基于新型趋近律的装填机械手自适应滑模控制

Adaptive Sliding Mode Control of a Loading Manipulator Based on a New Approach Law

针对弹药装填机械手在传统滑模控制下趋近律使系统产生抖振现象,收敛速度较慢等问题,提出了一种新型趋近律。该趋近律在指数趋近律的基础上引入了系统状态变量,状态点在沿滑模面滑动的过程中控制增益逐渐减小,直至误差为0时稳定在原点,有效地减小了抖动;并设计自适应控制律估计了机械手控制过程中的外部扰动,采用李亚普诺夫函数对新型趋近律的稳定性进行了分析,并以此趋近律设计了自适应滑模控制器。通过Matlab/Simulink建立仿真模型,将设计的新型趋近律与指数趋近律、幂次趋近律进行仿真对比,得到的仿真结果表明了新型趋近律具有较好的鲁棒性和有效性。

A new approach law is proposed to solve the problem of the chattering phenomenon and slow convergence of an ammunition loading manipulator using the traditional sliding mode control.Based on the exponential approach law,the system state variable is introduced into the approach law,and the control gain of the state point decreases gradually in the process of sliding along the sliding mode surface until the error is zero,thus the jitter is effectively reduced.An adaptive law is designed to estimate the external disturbances experienced by the manipulator during the controlling process.The stability of the new approach law is analyzed by using Lyapunov function,and an adaptive sliding mode controller is designed based on the approach law.Through the simulation of Matlab,the new approach law is simulated and compared with the exponential approach law and the power approach law.The simulation results show that the new approach law has better robustness and effectiveness.