刚性机器人全局高速非奇异终端滑模控制

Global High-Speed Nonsingular Terminal Sliding Mode Control of Rigid Robust Manipulators

针对刚性机器人有限时间鲁棒控制问题,为了提高控制性能,提出全局高速非奇异终端滑模及相应的滑模控制策略,并将新的滑模控制策略应用到刚性机器人轨迹跟踪控制中。该文所提出的全局高速非奇异终端滑模不仅具有非奇异快速终端滑模所不具备的全局高速收敛特性,而且可以提供全局非奇异性。实例仿真研究结果表明,该控制策略可以实现对期望轨迹的全局高速有限时间非奇异鲁棒跟踪,有效地提高了刚性机器人控制性能。

Peculiar to the issue of the robust control within limited time, this paper proposes a global high-speed nonsingular terminal sliding mode control（GHNTSMC） strategy for rigid manipulators to improve its controlling performance, and GHNTSMC is applied to the follow-up control of the trajectory tracking. The GHNTSM in the paper possesses the property of global high-speed convergence when compared with the nonsingular fast terminal sliding mode（NFTSM）, and also provides the global non-singularity. The case study of simulation shows that the GHNTSM is used to realize a global high-speed nonsingular robust tracking of the expected track within finite time with the effect of improving the effectiveness of the robust control.