单连杆柔性关节机械臂的高阶滑模控制器设计

High Order Sliding Mode Controller Design for Single-Link Flexible Joint Manipulator

针对单连杆柔性关节机械臂系统,提出了一种基于高阶滑模算法的有限时间镇定控制方法。所提出的方法涉及两个关键方面。首先,通过引入加幂积分器,设计了一个新的李雅普诺夫函数,使得输出信号在有限时间内收敛。其次,利用符号函数抑制了系统不确定性造成的抖振现象。基于有限时间李雅普诺夫稳定性理论,证明了该算法能够保证滑动变量在有限时间内收敛到原点。最后,单连杆柔性关节机械臂的仿真结果验证了高阶滑模控制算法的有效性。

The paper introduces a finite-time stabilization control method for single-link flexible-joint manipulator systems using a high-order sliding mode algorithm.The proposed approach addresses two key aspects.Firstly,a power integrator is incorporated to design a novel Lyapunov function,which ensures the convergence of the output signal within a finite time.Secondly,the chattering phenomenon caused by system uncertainty is mitigated using a sign function.By leveraging the finite-time Lyapunov stability theory,the paper proves that the algorithm guarantees the convergence of the sliding variable to the origin within a finite time.Finally,the effectiveness of the control algorithm is demonstrated through simulation results on a single-link flexible joint manipulator.