机器人滑模轨迹跟踪控制研究

RESEARCH ON TRACKING CONTROL OF ROBOTIC SLIDING MODE TRAJECTORY

传统的机器人滑模控制通常采用线性 PD滑模和等速趋近率 .本文基于指数趋近率并采用 PD+PID滑模策略进行机器人轨迹跟踪控制 ,即首先采用 PD滑模 ,在达到该滑模后 ,再采用 PID滑模 ,取得了很好的效果 ,文章还对各种饱和函数减少抖振的效果进行了比较 .

Traditional robotic sliding mode control is mostly based on linear PD sliding mode and uniform reaching law. Based on exponentially reaching law, a new PD+PID sliding mode control is proposed in this paper. Simulation has been implemented and the results are compared with PD sliding mode, PID sliding mode, PID+PD sliding mode respectively. Sigmoidal saturation functions are also exploited as an alternative to the commonly used saturation functions and comparative results are given. To decrease chattering, two measures are proposed, and good results have been achieved.