摘要
针对移动机械臂的输出跟踪问题,结合高阶滑模控制和动态滑模控制的设计思想为其设计了一种二阶动态滑模控制器.首先给出了包括驱动电机动态特性的移动机械臂的简化动态模型,然后通过微分同胚和输入变换将其分解为四个低阶子系统,并给出了其输出跟踪的二阶动态滑模控制器的设计方法.仿真结果表明,所设计的二阶动态滑模控制器不仅能很好地跟踪给定轨迹,而且能有效地削弱滑模控制系统的抖振.
Combining high-order sliding mode control with dynamical sliding mode control, a second order dynamical sliding mode controller is proposed for output tracking problem of mobile manipulators. Firstly, the reduced dynamic model including motor dynamics is developed for mobile manipulators. The system is then decomposed into four lower-dimensional subsystems by applying diffeomorphism and nonlinear input transformation to the reduced model. The design of the second order dynamical sliding mode controller is then addressed for the output tracking of mobile manipulators. Finally, the results of numerical simulation verify that the second order dynamical sliding mode controller can not only track the given trajectory hut also considerably reduce the chattering of sliding mode control systems.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2006年第3期411-415,420,共6页
Control Theory & Applications
基金
国家自然科学基金资助项目(68374016)
关键词
移动机械臂
二阶动态滑模控制
跟踪控制
电机动态
mobile manipulators
second order dynamical sliding mode control
tracking control
motor dynamics