机器人分散滑动模跟踪控制

On Decentralized Sliding Mode Tracking Control for Robotic Manipulators

提出一种机器人滑动模跟踪控制方案，使机器人跟踪时变轨迹．采取的方法是将整个系统视为由许多分散的线性子系统所组成，这些子系统又可由一组二次积分器模拟．利用非线性滑动曲面，设计了一个鲁棒控制器，使得输出跟踪误差能够在有限时间内收敛到零．

In this paper, a sliding mode control scheme is proposed and developed to track a time-varying trajectory for a typical robotic manipulator, in which the overall system is considered as set of decentralized linear subsystems. Using nonlinear sliding surface, a robust controller is designed so that the output tracking error can converge to zero in a finite time. Simulation results show that this control strategy is feasible and effective.