基于Sigmoid函数的机器人鲁棒滑模跟踪控制系统设计

Design of Robust Sliding Mode Tracking Control System for Robot Based on Sigmoid Function

为了保证机器人能够在保持稳定的情况下,按照规划轨迹执行工作任务,从硬件和软件两个方面,设计了基于Sigmoid函数的机器人鲁棒滑模跟踪控制系统。装设机器人传感器与状态观测器,改装机器人鲁棒滑模跟踪控制器,完成系统硬件设计;综合机器人结构、运动机理和动力机制3个方面,构建机器人数学模型;根据状态数据采集结果与规划轨迹之间的偏差,计算机器人跟踪控制量;依据滑模运动与切换方程,利用Sigmoid函数生成机器人鲁棒滑模控制律,将生成控制指令作用在机器人执行元件上,实现系统的鲁棒滑模跟踪控制功能;在系统测试与分析中,所设计控制系统的平均位置跟踪控制误差为0.93 mm,与设定轨迹目标基本重合,机器人姿态角跟踪控制误差为0.06 mm,具有较好的鲁棒滑模跟踪控制效果,能够有效提高机器人鲁棒滑模跟踪控制精度。

In order to ensure that a robot can perform tasks according to the planned trajectory while maintaining stability,a robust sliding mode tracking control system based on Sigmoid function is proposed from the hardware and software design.The system installs the robot sensors and state observers,modifies the robot robust sliding mode tracking controller,and completes the hardware design.The mathematical model of the robot is constructed by integrating the robot structure,motion mechanism and dynamic mechanism.The deviation between the state data acquisition result and the planned trajectory is used to calculate the robot tracking control quantity.According to the sliding mode motion and switching equations,the robust sliding mode control law of the robot is generated by using the Sigmoid function,and the generated control instructions are applied to the robot's executive components to achieve the robust sliding mode tracking control function of the system.In the system test and analysis,the average position tracking control error of the designed control system is 0.93 mm,which basically coincides with the set trajectory target.The robot attitude angle tracking control error is 0.06 mm,which has a good robust sliding mode tracking control effect and can effectively improve the robot robust sliding mode tracking control accuracy.