采摘机械臂的滑模PID控制

Sliding Mode PID Control of Picking Manipulators

针对采摘机械臂的位置终端跟踪问题,提出一种基于自适应调节PID增益的滑模控制器。为实现位置跟踪误差系统对模型参数变化和外部扰动的鲁棒性,基于Lyapunov稳定性理论,通过自适应律来在线调节PID控制增益参数,设计饱和函数来抑制滑模控制器的高频抖振。仿真结果表明设计的控制器能够驱动采摘机械臂精确跟踪期望的位置,具有较高的精度,能够满足实际工程应用的要求。

Aiming at the tracking problem of position terminal of picking manipulators, an adaptive sliding mode controller based on the adjustment of the PID gain was proposed. To achieve the position tracking error robustness of the model parameter variations and external disturbances, an adaptive law was adopted to adjust PID control gain parameters online basing on Lyapunov stability theory. Saturation function was designed to inhibit high-frequency chattering of the sliding mode controller. Simulation results illustrated that the designed controller can drive the picking manipulator to track the desired position accurately, which has higher precision and can meet the requirements of practical engineering applications.