摘要
针对非完整移动机械臂的轨迹跟踪控制问题,提出一种系统参数在线估计的自适应滑模控制策略。该方法将移动机械臂作为一个完整系统考虑,首先根据系统的动力学方程设计了滑模控制器;然后设计一种自适应律对系统中的不确定参数进行估计。与传统滑模控制相比,该算法不需要系统参数的上界已知。最后仿真实例说明了所提方法的有效性和优越性。
In this paper,an adaptive sliding mode control scheme is proposed for the tracking problem of nonholonomic mobile manipulators with online estimation of the controller parameter.Mobile manipulators are represented by a complete system.Firstly,a sliding mode controller is designed based on the dynamic equations of the system.Then,an adaptive law is designed to estimate uncertain system parameters.Compared with the sliding mode control strategy,the proposed method works well even with the unknown upper bounds of the system parameters.Finally,simulation results demonstrate the effectiveness and superiority of the proposed controller.
作者
董玉明
俞立
朱俊威
DONG Yu-ming;YU Li;ZHU Jun-wei(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)
出处
《控制工程》
CSCD
北大核心
2019年第1期43-49,共7页
Control Engineering of China
基金
浙江省自然科学基金项目(LZ15F030003)
关键词
移动机器臂
轨迹跟踪
滑模控制
自适应律
Mobile manipulator
trajectory tracking
sliding mode control
adaptive law
