两杆欠驱动机器人的多层嵌套滑模控制方法

摘要

Currently,the greatest number of sliding-mode control means for the under-actuated two-link manipulators could not be assured of the reach-ability and robustness when all sub-sliding-modes approached one’s own sliding-mode planes. It was appeared as stability of the system depended overly on selection of the parameters,and control running congested,and it was difficult to adjust the control parameters and implement. Therefore,a hierarchical nested sliding-mode control method was proposed to improve the reach-ability,robustness and rapidity. Both reach-ability and stability of all the sliding-mode planes were analyzed and numerical sim-ulation of the position stabilization control of the pendubot and acrobot of the under-actuated two-link manipulators was done. The simu-lation results show that the control means can make adjustment of the control parameters keep more continuous,and decrease the con-trol running congestion and difficulty of the parameters adjustment,and improve effectively the rapidity and robustness when all sub-sliding-modes approached one’s sliding-mode planes.%目前对于两杆欠驱动机器人的滑模控制方法大多不能保证子滑模趋近各自滑模面的可达性和鲁棒性，表现为系统的稳定过度依赖参数的选取，控制运行拥塞，参数调整难度大，实现困难。为此提出一种多层嵌套滑模控制方法，以改善子滑模趋向各自滑模面的可达性、鲁棒性和快速性。进行了系统滑模面的可达性和稳定性分析，并就Pendubot和Acrobot两类欠驱动机器人进行了位置镇定控制数值仿真。仿真结果表明该方法能够使系统的控制参数调整保持一定的连续性，降低控制拥塞和参数调整难度，并有效地提高子滑模趋向各自滑模面的快速性和鲁棒性。