绳驱动机械臂运动控制方法研究

Research on the control method of rope driven flying manipulator

设计了一款面向旋翼飞行器的轻量化绳驱动机械臂。为了更好地控制该机械臂,基于时延估计技术,设计了一款非奇异终端滑模关节运动控制器,加入自适应模块以提高控制器在滑模面附近的收敛速度。基于李雅普诺夫理论,证明了闭环控制系统的全局稳定性和误差收敛性。对绳驱动机械臂进行运动控制仿真对比实验,结果表明,在相同条件下所设计的控制器比传统的非奇异终端滑模控制器和线性滑模控制器有着更好的收敛性、鲁棒性。

A lightweight cable-driven manipulator for rotorcraft is designed.In order to better control the manipulator,a nonsingular terminal sliding mode controller is designed based on time delay estimation technology,and an adaptive module is added to improve the convergence speed of the controller near the sliding mode surface.Based on Lyapunov theory,the global stability and error convergence of the closed-loop control system are proved.The results show that the proposed controller has better convergence and robustness than the traditional nonsingular terminal sliding mode controller and linear sliding mode controller under the same conditions.