欠驱动水平机械臂的遗传优化分层滑模控制

Hierarchical sliding mode control based on GA optimization for underactuated horizontal manipulators

对具有非驱动关节的水平二自由度机械臂系统,提出了基于遗传算法的在全局参数空间内进行全参数寻优的改进分层滑模变结构控制方法.解决了水平欠驱动系统的变结构控制问题以及由于欠驱动系统控制缺少通用的参数计算方法而产生的控制精度低的问题.仿真结果表明了该控制方法的有效性,并且优化后的控制器具有较好的适应性和控制效果.

An improved hierarchical sliding mode variable structure controller based on genetic algorithm is proposed for 2-DOF horizontal underactuated manipulators to achieve optimization in the global parametric space. This method realizes variable structure control of the horizontal underactuated systems and resolves the problem of low control precision in underactuated systems because of the lack of a universal means of parameter-selection. Simulation results proved the effectiveness of the proposed method. Moreover, the optimized controller showed better adaptability and control results.