多自由度机械臂反演自适应滑模智能控制方法设计

Design of Backstepping Adaptive Sliding Mode Intelligent Control Method for Multi-degree Freedom Manipulator

为了改善多自由度机械臂移动精准度,提高机械臂控制效果,提出了多自由度机械臂反演自适应滑模智能控制方法。采用轻质材料的多自由度机械臂为研究对象,建立智能机械臂控制系统,结合智能感应技术对距离信息进行感应,根据感应结果对机械臂的随期望运动轨迹进行规划,通过对反演自适应滑模控制器进行设计,结合滑模控制方式,利用自适应控制理论补偿扰动信号,实现控制稳定性。由实验结果可知,该方法横向、纵向运动与实际情况一致,且具有良好控制效果。

In order to improve the movement accuracy and control effect of multi DOF Manipulator,a backstepping adaptive sliding mode intelligent control method is proposed.The multi degree of freedom manipulator with light material is used as the research object,and the intelligent sensing technology is used to sense the distance information.According to the sensing results,the trajectory of the manipulator is planned according to the expected motion.The backstepping adaptive sliding mode controller is designed,and the disturbance signal is compensated by using the adaptive control theory to achieve control stability.The experimental results show that the method is consistent with the actual situation,and has good control effect.