基于反演设计的机器人非奇异终端模糊滑模控制

Nonsingular Terminal Fuzzy Sliding Mode Control for Multi-link Robots Based on Backstepping

针对带有建模误差和外部干扰的多关节机器人轨迹跟踪问题,根据滑模控制原理,采用非奇异终端滑模面,基于反演设计方法,设计了反演非奇异终端模糊滑模控制。并设计了模糊控制器在线估计不确定性上界值,削弱了抖动。利用李亚普诺夫定理证明了系统的稳定性,仿真结果表明方法的有效性。

A new method of nonsingular terminal fuzzy sliding control based on backstepping for tracking control of multi-link robot manipulators is introduced in this paper. According to sliding mode control theory, backstepping is used to design nonsingular terminal sliding mode controller. A proper fuzzy controller is designed to estimate uncertain upper boundary on line and track the modeling error and disturbance automatically. So it reduces jttering. The system stability is proved by Lyapunov principle. Simulation results verify the validity of the control scheme.