参数不确定柔性机械手的终端滑模控制

Terminal sliding mode control for flexible manipulators with uncertain parameters

针对参数不确定双臂柔性机械手系统,提出一种基于遗传算法的终端滑模控制方法,以实现其末端控制.基于输出重定义方法,通过输入输出线性化,将系统分解为输入输出子系统和内部子系统.设计终端滑模控制策略,使输入输出子系统有限时间内收敛到零,内部子系统变为零动态子系统;采用遗传算法优化零动态子系统参数,使其在平衡点附近渐近稳定.根据Lyapunov稳定性理论算出末端输出位移的误差范围.仿真结果证明该方法有效性.

A terminal sliding mode control method based on genetic algorithm is proposed for the end-tip control of two-link flexible manipulators with uncertain parameters. The output of the manipulator system is redefined. By input-output linearization, the system is decomposed into an input-output subsystem and an internal subsystem. A terminal sliding mode control strategy is designed to make the input-output subsystem converge to zero in finite time. The internal subsystem is converted into a zero dynamic subsystem. A genetic algorithm is adopted to optimize the parameters of the zero dynamic subsystem to guarantee its asymptotical convergence to the neighborhood of the equilibrium point. The error range of end-tip output is calculated by Lyapunov stability theorem. Simulation results are presented to validate the design.