3-DOF空间机械臂新型滑模轨迹跟踪控制

A novel sliding mode controller for trajectory tracking of 3 DOF spatial robot manipulators

为了实现机械臂高精度轨迹跟踪,提出一种基于扩展状态观测器(ESO)的新型滑模控制器(PD-ESO-SMC)。该控制器滑模面设计为PD形式,利用ESO对系统的外界的未知干扰、参数的摄动、未建模动态以及耦合部分进行实时估计和补偿,定义并且引入sal函数抑制抖振现象。最后通过稳定性分析证明该控制器的有效性,同时,将仿真结果与基于PD的滑模控制(PD-SMC)及PID控制器进行对比。研究结果表明:所提出的控制方案能实现高精度的轨迹跟踪,对外部干扰有很强的鲁棒性。

In order to realize the high-precision trajectory tracking,a novel sliding mode controller was presented based on extended state observer(ESO).The controller with sliding mode surface was based on PD.The unknown external disturbance,parameter uncertainty,un-modeling and the coupling were observed and compensated by means of ESO.The chattering problem was attenuated significantly by introducing the function of sal.The effectiveness of the proposed control law was verified by the theoretical analysis of the system stability.The results show that this control algorithm not only realizes the high-precision trajectory tracking as shown in the simulation,but also improves the system robustness in comparison to the PID control and PD with sliding mode control.