一类平滑的机器人非线性滑动模控制策略

A Class of Smooth Nonlinear Sliding Mode Control Schemes for Robots

提出一类平滑的非线性滑动模控制策略 ,用于不确定性机器人的轨迹跟踪 ,其控制结构不依赖系统模型 ,由一个连续的非线性补偿控制器和一个非线性反馈构成 ,其主要特点是基于一类饱和型函数 ,提出了一类新颖的非线性补偿控制器和非线性滑动模的设计方法 .另外 ,应用提出的非线性滑动模 ,可以推得一个只有一阶的机器人集中不确定性约束函数而不是通常的二阶多项式 .基于Lyapunov方法的理论分析和计算机仿真 ,均保证设计的控制策略能够消除系统所有的不确定性影响 。

This paper proposes a class of smooth nonlinear sliding mode control schemes for trajectory tracking of robots with uncertainties. The control structure consisting of a continuous nonlinear compensator and a nonlinear feedback term is model independent and can produce smooth control activity. The main feature of the control approach is that a new class of continuous nonliner compensators and nonlinear sliding modes are developed based on a class of saturation type functions to simplify the controller design and improve the transient performance. Furthermore a new first order bounding ploynomial on system uncertainties is introduced instead of the conventional second order ploynomial. It is shown by Lyapunov's theorem and simulations that uncertain effects such as frictions and external disturbances are eliminated, and also the global asymptotic stability can be warranted.