并联平台的模糊非奇异快速终端滑模控制

Fuzzy Non-singular Fast Terminal Sliding Mode Control for Parallel Platform

针对六自由度并联平台存在不确定建模误差和外部干扰的轨迹跟踪控制问题,提出一种模糊非奇异快速终端滑模控制方法。采用一种非奇异快速终端滑模面,利用模糊系统的万能逼近特性,在每个自由度上分别建立模糊系统,通过Lyapunov函数设计模糊系统输出的自适应律,实现非奇异快速终端滑模控制中切换项的自适应调整。仿真结果表明,该方法可以有效实现在具有建模误差情况下并联平台的轨迹跟踪,在抑制输出量的抖振、收敛速度和跟踪误差等方面具备一定优势。

To solve the trajectory tracking control problem of the six degree-of-freedom parallel platform with uncertain modelling errors and external disturbances a fuzzy non-singular fast terminal sliding mode control method is proposed.A non-singular fast terminal sliding surface is adopted and the universal approximation property of the fuzzy system is used to establish a fuzzy system on each degree of freedom.The adaptive law of the output of the fuzzy system is designed by Lyapunov function and the adaptive adjustment of the switching term in the non-singular fast terminal sliding mode control is realized.The simulation results show that this method can effectively track the trajectory of the parallel platform with modelling errors and has certain advantages in restraining output chattering improving convergence speed and reducing tracking errors.