并联机器人系统的一种新型自适应滑模控制策略

摘要

针对并联机器人的轨迹跟踪问题，提出一种新型自适应滑模控制（NASMC）策略。该方案无须知道系统扰动参数和不确定值上界，能有效解决滑模控制（SMC）中切换增益过度适应问题；且能减弱机器人启动时刻的冲击，从而避免并联机器人启动时可能出现的奇异位形。理论分析与仿真结果验证了该控制算法的有效性。%A new strategy of adaptive sliding mode control (NASMC)for parallel robot on trajectory tracking was proposed. U-sing the proposed NASMC algorithm,an effective solution was provided for the over adaption problem in current design,the require-ment of a prior knowledge of the upper bound of the model uncertainty was removed as well,and the impact response to parallel robot on start time was weakened,so the state of singular configuration was avoided. Theoretical analysis and simulation results show the ef-fectiveness of the proposed strategy.