[1]张松云,高国琴.不确定性输送用混联机器人滑模控制研究[J].计算机技术与发展,2020,30(12):66-71.[doi:10. 3969 / j. issn. 1673-629X. 2020. 12. 012]
　ZHANG Song-yun,GAO Guo-qin.Research on Sliding Mode Control of an Uncertain Hybrid Robot for Conveying[J].,2020,30(12):66-71.[doi:10. 3969 / j. issn. 1673-629X. 2020. 12. 012]
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不确定性输送用混联机器人滑模控制研究()
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《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:
30
期数:
2020年12期
页码:
66-71
栏目:
智能、算法、系统工程
出版日期:
2020-12-10

文章信息/Info

Title:
Research on Sliding Mode Control of an Uncertain Hybrid Robot for Conveying
文章编号:
1673-629X(2020)12-0066-06
作者:
张松云; 高国琴
江苏大学 电气信息工程学院,江苏 镇江 212013
Author(s):
ZHANG Song-yun; GAO Guo-qin
School of Electrical & Information Engineering,Jiangsu University,Zhenjiang 212013,China
关键词:
混联机器人; 不确定性; 滑模控制; 自适应; MATLAB 仿真
Keywords:
hybrid robot; uncertainty; SMC; adaptive; MATLAB simulation
分类号:
TP273. 5
DOI:
10. 3969 / j. issn. 1673-629X. 2020. 12. 012
摘要:
针对不确定性输送用混联机器人,提出一种新的滑模控制方法以实现其高性能控制。 基于构建的不确定性混联机器人动力学模型,将不确定性引入超螺旋滑模控制律中,并结合等效控制原理实时估计机器人控制系统中不确定性上界信息,从而设计一种双重自适应超螺旋滑模控制,以尽可能减小为确保鲁棒性保守选取滑模控制切换增益而带来的抖振。在此基础上,为解决滑模控制趋近阶段不满足等效控制条件的问题,结合全局滑模设计滑模面以消除趋近阶段。 理论证明了所提滑模控制器的 Lyapunov 稳定性。 基于 MATLAB 的系统仿真实验结果表明:与未采用全局滑模面的自适应超螺旋滑模控制相比,所提出的滑模控制方法能确保控制系统全局鲁棒性;与基于滑模变量的自适应超螺旋滑模控制相比,所提出的滑模控制方法在确保控制系统鲁棒性的同时能最大限度地抑制滑模控制抖振,因而能实现不确定性输送用混联机器人的高性能控制。
Abstract:
To realize the high-performance control of an uncertain hybrid robot for conveying,a novel sliding mode control (SMC) method is proposed. The dynamic model of the uncertain robot is built,and the upper bound information of the uncertainties is estimated via combining the introduction of the uncertainties from the model to the super - twisting sliding mode control (STW) law and the principle of equivalent control.Then a double adaptive STW is designed to minimize the chattering caused via the conservative selection of the SMC switching gains on the premise of ensuring the robustness.  On this basis,to solve the problem that the equivalent control condition is not satisfied in the reaching phase of the SMC,a sliding surface is designed to eliminate the phase by incorporating the global SMC and the STW. The Lyapunov stability of the proposed SMC has been proved theoretically. The simulation based on MATLAB shows that compared with the adaptive STW without the global sliding mode surface,the proposed SMC method can ensure the global robustness of the control system,and compared with the adaptive STW based on the sliding variable,it can minimize the chattering while the robustness of the control system has been guaranteed. As a result,the high-performance control of the uncertain hybrid robot for conveying can been realized.

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更新日期/Last Update: 2020-12-10