液压伺服驱动的并联机器人离散滑模变结构控制

Discrete sliding mode variable structure control for parallel robot driven by hydraulic servo

本文针对液压伺服驱动并联机器人数学模型的特点 ,设计了一种具有变速趋近律的离散滑模变结构控制器。仿真研究结果表明 ,该控制方案可避免通常变结构控制中不可避免的颤动 。

Aiming at the character of the mathematical model of parallel robot driven by the hydraulic servo system,a kind of discrete sliding mode variable structure controller with the variable rate reaching law is designed.the simulation result demonstrates that the chattering phenomemon which is inherent to the variable structure control is avoided in this control scheme,and control system exhibits strong robustness to parameter variations and external disturbances.