六自由度机械臂的非奇异快速终端滑模控制

Non-singular fast terminal sliding mode control method for 6-DOF manipulator

首先对快速终端滑模控制方法应用到六自由度机械臂系统时存在的奇异问题进行了分析。然后提出了一种新的非奇异快速终端滑模控制方法,并基于Lyapunov理论证明了控制系统的稳定性。最后将非奇异快速终端滑模控制器应用于六自由度机械臂运动控制中,试验结果表明:非奇异快速终端滑模控制提高了六自由度机械臂位姿控制的稳定性、精确性、快速收敛性和鲁棒性。

First, the singularity problem is analyzed in the conventional fast terminal sliding mode controller when applied to six-axe harmonious motion control of the 6-DOF manipulator. Then, a non- singular fast terminal sliding mode controller is proposed, and the stability of the control system is proved using the Lyapunov theory. The non-singular fast terminal sliding mode controller is applied to six-axe harmonious motion control of the 6-DOF manipulator. The results illustrate that the non- singular fast terminal sliding mode method can improve the stability, accuracy, convergence speed and robustness of the position and orientation control of 6-DOF manipulator.