基于滑模自适应控制的双关节机械手轨迹跟踪

Track Tracking of Double Joint Manipulator Based on Sliding Mode Adaptive Control

针对机械手在工作过程中由于自身参数的不确定性导致系统稳定性受到影响,提出一种滑模自适应控制算法进行机械手的轨迹跟踪。首先通过运用拉格朗日方程推导出机械手的动力学方程,将未知负载变化、机械手连杆重量、连杆长度及其连杆质心等作为未知变量进行滑模函数以及自适应律的设计,用自适应律调节未知量对稳定性的影响,保证系统的跟踪精度;其次,通过运用李雅普诺夫稳定性分析判断控制算法是否能够使系统最终达到渐进稳定;最后仿真实验表明机械手的轨迹能被稳定跟踪以及未知变量具有快速收敛性,证明了算法的有效性和优越性。

Aiming at the system stability being affected by the uncertainty of its own parameters during the work of the manipulator,a sliding mode adaptive control algorithm is proposed to track the manipulator's trajectory.Firstly,the dynamic equation of the manipulator is derived by using Lagrange's equation;the unknown load change,manipulator connecting rod weight,connecting rod length and connecting rod centroid are used as unknown variables to design sliding mode function and adaptive law.The adaptive law is used to adjust the influence of the unknown quantity on the stability to ensure the tracking accuracy of the system;secondly,through the use of Lyapunov stability analysis to determine whether the control algorithm can make the system finally achieve progressive stability.Finally,the simulation experiment shows that the trajectory of the manipulator can be tracked stably and the unknown variables can converge quickly,which proves the effectiveness and superiority of the algorithm.