机器人变结构自适应控制的研究

THE STUDY OF VARIABLE STRUCTURE WITH ADAPTIVE CONTROL FOR A ROBOT

本文提出了一种新的机器人变结构自适应轨迹跟踪控制，根据滑模存在条件，独立地推导出了一种实时预测滑模参数Ｃ的递推算法，克服了机器人变结构控制中滑模参数选择的盲目性。同时，为了更有效地削弱抖振现象，本文提出了一种新的变边界层厚度的饱和函数方法。本文的控制方案既保证了系统的强鲁棒性，又能实现高精度的快速跟踪控制。以三自由度烟叶搬运机器人为对象的仿真实验结果，表明了本文所采取的控制方法的有效性和可行性。

A new scheme of variable structure with adaptive tracking control for a robot is derived in thispaper. According to the existence condition of sliding mode,a recurrence algorithm for predicting the param-eter C of sliding mode in real-time is proposed,which makes the parameter C to be adjusted automaticallywith the change of the system state. The algorithm overcomes the blindness for selecting the parameter C invariable structure control of the robot.Furthermore,in order to eliminate the chattering availably.a newadaptive method with variable thickness of boundary layer on the basis of saturation function is proposed al-so. The scheme not only gets high tracking accuracy and fast response,but also the well robustness of thesystem. The simulation of a 3-DOF manipulator used for handling roasted tobacco indicates the effectivenessand feasibility of the control method presented.