一种基于粒子群优化(PSO)算法的全局快速终端滑模控制方法

A Global Fast Terminal Sliding Mode Control Method Based on Particle Swarm Optimization Algorithm

为了减小六轴机械臂运行时的震动,提高控制系统的响应时间,基于PSO智能算法对其进行全局优化控制,将机械臂系统离散成6个子系统,分别设计各个子系统,并且基于Lyapunov理论验证控制系统的稳定性。仿真结果表明,采用PSO算法对六轴机械臂进行运行轨迹控制时具有精度高、运行误差小及收敛周期短的优点,切实提高了控制系统的响应速度及控制精度。

In order to eliminate the chattering and improve the response speed of the system. This paper deals with a fast terminal sliding mode control method based on PSO（ particle swarm optimization） for the six manipulator control system. Then stability of the system is demonstrated by Lyapunov theory and the optimization control parameters are achieved based on PSO algorithm. The simulation results show that the PSO algorithm has the advantages of high precision,low running error and short convergence period when the trajectory control of the six-axis manipulator is carried out,thus the response speed and control precision of the control system are all improved.