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针对具有不确定性的机械手轨迹跟踪控制问题,提出一种自适应二阶终端滑模控制器设计方法。设计一类非线性不确定系统的自适应二阶终端滑模算法,使得不连续符号函数包含在控制微分项,实际控制作用连续;采用自适应律克服不确定性上界未知问题,基于Lyapunov方法证明系统稳定性;针对机械手轨迹跟踪问题,基于所提出控制方法设计机械手自适应终端滑模控制方案;通过对双关节机械手轨迹跟踪仿真研究,验证所提出控制策略的有效性。
Aiming at the robot trajectory tracking control problem with uncertainty, an adaptive second-order terminal sliding mode controller design method is proposed. An adaptive second-order terminal sliding mode algorithm for a class of nonlinear uncertain systems is designed. The discontinuous symbol functions are included in the control differential term and the actual control action is continuous. The adaptive law is used to overcome the uncertainty upper bound unknown problem. Based on the Lyapunov method To prove the stability of the system, aiming at the robot trajectory tracking problem, a control scheme based on the proposed adaptive sliding mode control was designed. The trajectory tracking simulation of two-joint manipulator was used to verify the effectiveness of the proposed control strategy.