机械臂位置跟踪自适应反演滑模控制律设计

Adaptive backstepping sliding mode controller design for robotic manipulator position tracking

针对机械臂位置跟踪控制问题,设计了一种新型自适应反演滑模控制律。该方法利用机械臂各关节的位置和速度误差建立了滑模面函数,并根据反演原理设计了反演滑模控制律。然后,通过设计合适的自适应律对外部扰动进行在线补偿,降低了系统对外部扰动的敏感性,有效地抑制了系统的抖振。最后利用Lyapunov定理证明了系统的稳定性。仿真结果说明该控制律具有较好的控制性能。

A new method of adaptive backstepping sliding mode controller for robotic manipulator position tracking is introduced.The sliding surface is gained by using the position errors and velocity errors of robotic manipulator joints,and then the backstepping sliding mode controller is designed based on backstepping theory.Furthermore,an adaptive law is proposed to compensate automatically the external disturbance,so as to reduce the control system's sensitivity to disturbance and control the chattering effectively.At last,the system stability is proved by Lyapunov principle.The simulation result shows better performance.