机械臂模糊超螺旋二阶滑模轨迹跟踪控制

Fuzzy Super-twisting Second Order Sliding Mode Trajectory Tracking Control for Robotic Manipulator

针对工业机械臂模型误差和外部干扰等不确定性因素对末端轨迹跟踪精度的影响,设计了一种新的模糊自适应超螺旋二阶滑模轨迹跟踪控制方法。基于机械臂动力学模型,设计一种新的非奇异终端滑模面,采用超螺旋算法设计二阶滑模控制律;为解决滑模控制只能在已知扰动边界的情况下对匹配扰动进行补偿问题,结合模糊推理算法实现对系统未知不确定性的在线补偿,采用Lyapunov理论证明了闭环控制系统的稳定性。仿真与实验对比表明:该控制方法可使机械臂在复杂不确定性因素下实现末端轨迹精确跟踪,并对系统抖振现象进行有效抑制。

A fuzzy super-twisting second order sliding mode control method is proposed for the uncertainties of the model error and external disturbance on the trajectory tracking accuracy of robotic manipulator.Based on the dynamic model of the robotic,a new non-singular terminal sliding mode manifold is designed,and an improved super-twisting algorithm is used to design the second order sliding mode controller.In order to solve the problem that the matching disturbance can only be compensated under the condition of the known disturbance boundary in the sliding mode control,the fuzzy logic algorithm is used to carryout the online compensation for uncertainty of the system.The stability of the closed-loop control system is guaranteed by Lyapunov theory.The simulation and experiment results show that the proposed controller can track the trajectory accurately under the uncertainty of the robotic and can effectively suppress the chattering phenomenon of the system.