仅利用位置测量信息的机器人滑动模跟踪控制

Sliding Mode Tracking Control for Robotic ManipulatorsUsing Only Position Measurements

提出一种仅利用位置测量信息的机器人滑动模跟踪控制方案使机器人跟踪给定轨迹．整个控制器分为两部分：仅利用位置反馈的控制器和变结构滑动模控制器．由位置反馈实现的虚拟速度反馈实质上是一种动态补偿器，而变结构滑动模控制方案则主要用来消除或抵消系统中所存在的不确定性的影响，达到提高系统鲁棒性的目的．在上述控制器控制下，系统的输出跟踪误差可以渐近收敛到零．利用边界层控制方案可消除或减弱滑动模控制中经常出现的抖振现象．

A sliding mode control scheme is proposed and developed to track a prescript trajectory for a typical robotic manipulator by using only position measurements.The overall controller consists of two parts:a dynamic compensator using only position measurements in which velocity feedback is implemented by a simple position feedback,and a variable structure sliding mode subcontroller which is used to eliminate or compensate uncertainties appeared in robot system and enhance the robustness.By using the robust controller,the output tracking error can converge to zero asymptotically.Boundary layer control is introduced to suppress the chattering.