一类非完整系统的分层全局快速终端滑模控制

Hierarchical Global Fast Terminal Sliding Mode Control for a Class of Nonholonomic Systems

基于滑模变结构控制理论,提出了一种用于平面二自由度欠驱动机器人非完整系统的全局快速终端滑模变结构控制方法。该方法将系统的状态方程化为标准形式的单输入多输出的非线性系统方程,运用全局快速终端滑模方法分别构造子系统的滑模面,结合这两个滑模面构造一个总的滑模面,利用李雅普诺夫函数和准滑动模态设计方法求取系统总的控制量,以实现主动关节与被动关节的轨迹规划和削弱由于采用滑模变结构控制而产生的抖振。最后利用所提出的方法设计了控制系统并进行仿真,仿真结果证明了该控制方法的有效性与快速性。

Based on the sliding mode variable structure control theory, it proposes a hierarchical global fast terminal sliding mode control algorithm for a nonholonomic system of 2 - DOF horizontal underactuated robot. This method changes system＇ s state equations into a standard form of single - input multiple - output nonlinear system, and constructs a new sliding plane combining with two subsystems＇ sliding planes constructed in the global fast terminal method. Using the Lyapunov function and pseudo sliding mode method, it derives the control law. The control algorithm fulfills the trajectory control of active joint and underactuated joint, and can reduce the chattering caused by variable structure control. The simulation results show that the control system is well validity and rapidity.