基于反演设计的机器人动态滑模控制理论对月表机械臂模型的分析

针对空间机械臂轨迹跟踪问题,分析月表机械臂工作环境和特点,考虑到参数不确定性及非参数不确定性的影响,采用反演设计方法设计动态滑模控制器切换函数,引入虚拟控制量u=τ和自适应物理参数向量,得到输入平滑的动态滑模控制率,通过平面二自由度机械臂仿真验证了该控制算法的有效性。

Analyzing working conditions of lunar manipulator, considering the influence of parameter uncertainties and non- parameter uncertainties, a trajectory tracking control algorithm was proposed. Backstepping method was adopted to design slide mode switch function. Virtual control u=τ and adaptive parameter are introduced to smooth τ. Simulation of planar 2DOF lunar manipulator proved the validity of such method.