基于ESO的机械臂非奇异终端滑模控制

Non-singular Terminal Sliding Mode Control of Manipulator Based on Expansion State Observer

为解决机械臂在系统参数不确定与外部扰动影响下的轨迹跟踪问题,基于改进型扩张状态观测器,结合滑模控制理论,设计了一种改进型扩张状态观测器与非奇异终端滑模相结合的控制方法。首先,对机械臂模型设计非奇异终端滑模控制器以提高控制精度;然后对系统中的总扰动设计改进型扩张状态观测器,将观测器结果引入控制器中达到扰动补偿作用,并通过Lyapunov稳定性理论证明闭环系统的稳定性;最后,通过仿真对比验证本文控制方法的优越性。

To deal with the problem of trajectory tracking of manipulators under the influence of system parameter uncertainty and external disturbances,based on the improved expansion state observer and sliding mode control theory,a new control method combining expansion state observer and non-singular terminal sliding mode is designed.Firstly,a nonsingular terminal sliding mode controller is designed for the manipulator model to improve the control accuracy.Secondly,an improved extended state observer is designed for the total disturbance,and the observer results are introduced into the controller to compensate the disturbance.The stability of the closed-loop system is proved by the Lyapunov stability theory.Finally,the superiority of the control method in this paper is verified bycomputer simulation.