积分滑模控制及抖振抑制研究用于仿人机器人头部控制

Research of Integral Sliding Mode Control and Chattering Reduction on a Humanoid Robot's Head

介绍了HIT三自由度仿人机器人头部的机械和电气结构,将积分滑模控制算法应用于头部追踪控制,实现了对闭环系统极点的任意配置,克服了建模不准确、外部干扰等因素的影响,使滑动模态发生在运动初始时刻,并贯穿于整个响应过程。同时提出了一种简单易行的方法切换函数比例法来抑制积分滑模控制的抖振。经与传统的PID加摩擦力补偿控制和基于计算力矩法的滑模变结构控制对比,实验证明了提出的控制方法具有较高的跟踪精度并且抖振较小、抗干扰性较强。

This and electric structu paper introduces the mechanical re of the 3 -DOF head of HIT humanoid robot. Integral sliding mode control is used for the tracking control of the head. This algorithm can make the pole placed arbitrarily in order to reject the effects caused by modeling uncertainties and external disturbances. Robustness of the system can be guaranteed throughout an entire response of the system which begins from the initial time instance. In addition,this paper proposes a simple method called proportional switching function to alleviate chattering of integral sliding mode control. Compared with the conventional PID fric-tion compensation and sliding mode control approaches that based on computed torque, the control method is proved by experimental results that it can get higher tracking accuracy, minor chattering and strong robustness.