刚体机构的鲁棒变结构控制

ROBUST VARIABLE STRUCTURE CONTROL FOR RIGID MECHANISM

本文针对仅装备位置传感器的刚体机构,提出了一种新的鲁棒变结构控制算法。该算法克服了传统的变结构算法中由于过大的开关项系数而激发系统的未建模模态所引起的系统振动现象。重新定义的状态变量实现了观测器和控制器的解耦。在控制器中,对滑动误差的收敛速度进行控制的新概念被首次提出。在我校自行研制的“JTR-1”教学机器人上的实验,证明了这种算法良好的性能。

This papet propses a novel robust variable structure control algorithm for the rigid mechanism with only position measurement. This algorithm overcomes the drawback of over-high switching coef- ficients existing in a traditional case which could excite system's unmodelling modes and could cause system chattering. Redefined nonlinear sliding surface realizes the decoupling of observers and con- trollers. In the controller, a mew idea of controlling sliding error convergence rate is first proposde. The experimental results obtained on manipulator 'JTR-1' illustrate the features of this algorithm.