液压机械臂基于反演的自适应二阶滑模控制

Adaptive second order sliding mode control for hydraulic manipulator based on backstepping

利用驱动Jacobian矩阵构建机械臂系统与液压伺服系统的耦合关系,进而建立整个系统的动力学模型。考虑系统未建模动态和外界干扰,通过定义虚拟控制量并选取合适的Lyapunov函数,设计此系统的自适应二阶滑模控制律,使系统在有限时间内精确跟踪期望轨迹且保持强鲁棒性,同时有效削弱了传统滑模控制对系统硬件不利的抖振。仿真结果验证了本文方法的有效性。

The coupling relationship between the constructed by a driven Jacobian matrix. Then, manipulator and the hydraulic servo system is the entire system dynamic model is established. Considering the unmodeled dynamic and external disturbance, the Adaptive Second Order Sliding Mode Control （ASOSMC）, which can guarantee the tracking performance in finite time and strong robustness, is obtained by defining virtual control law and selecting suitable Lyapunov function. Simulation results show the effectiveness of the proposed control scheme, which can reduce the chattering phenomenon in traditional sliding mode which is harmful to hardware.