对带有死区的机械臂系统的快速非奇异终端滑模轨迹跟踪控制

Fast Non-singular Terminal Sling Model Control for Trajectory Tracking of Robotic Manipulator with Deadzone

针对带有死区的机械臂系统轨迹跟踪问题,提出了一种快速非奇异终端滑模控制方法。首先,选取基于非奇异终端滑模框架的快速非奇异终端滑模,保证了系统状态能够在有限时间内收敛到零,并且在没有添加任何辅助措施的情况下避免了控制律的奇异问题;其次,通过将原控制律中的符号函数替代成饱和函数而获得连续的控制信号,消除了抖振;最后,仿真结果验证了所提出的方法的有效性。

This paper proposes a fast non-singular terminal sliding mode(FNTSM) control approach for the traj ectory tracking of robotic manipulator system with deadzone.At First,selecting FNTSM which is based on non-singular terminal sliding mode framework,thus,system states converge to origin in a finite time can be guaranteed,and singularity is avoided without any auxiliary measures.Next,continuous control signals can be obtained by replacing sign function with saturation function in previous control law,therefore,chattering is eliminated.