机器人前馈补偿滑模鲁棒控制

Sliding Mode Robust Control with Feedforward Compensator for Robot Manipulator

本文针对机器人轨迹跟踪控制问题，基于滑模变结构控制的基本理论，提出了一种具有前馈补偿的滑模变结构鲁棒控制器。通过引入顺馈控制（对滑模切换函数的ＰＩ控制）来改善滑动模态的动特性，并消弱或消除常规变结构控制所存在的“颤振”现象：应用前馈补偿来提高跟踪精度。仿真结果验证了该方法的有效性。

Based on the theory of variable struchure control(VSC),a shiding mode robust controller with feedforward compensator is presented for robot manipulator trace traling control in this paper.A sliding mode PI control is introduced to improve the dynamic performance of sliding mode and alleviating or eliminating the chattering in traditional VSC.Using feedforward compensator is to improve traking accuracy.The experiment results show that the presented method is effective.