基于非线性终端滑模的码垛机械臂轨迹跟踪控制

针对码垛机械臂的轨迹跟踪控制,提出了一种基于数据驱动的非线性终端滑模控制方法.首先,利用牛顿-欧拉法推导出码垛机械臂的动力学模型,进而将模型等效成离散形式;接着,设计非线性终端滑模面来加快关节角的收敛速度,引人等效趋近律来抑制系统的抖振效应;同时,在萤火虫寻优算法的帮助下解决控制器参数整定问题,以便获得最优的控制性能;最后,通过仿真和试验对所提控制方法的有效性进行了验证.结果表明,该控制方法比积分滑模控制控制具有更高的跟踪精度,能保证码垛机械臂较好地跟踪上参考轨迹,具有一定的工程应用价值.

Trajectory tracking control for a palletizing manipulator based on nonlinear terminal sliding mode

Aiming at the trajectory tracking control of the palletizing manipulator, a nonlinear sliding mode control method is proposed. Firstly, the Newton-Euler method is used to derive the dynamic model of the palletizing manipulator, which is then equivalent to a discrete form. Then, the nonlinear terminal sliding mode surface is designed to accelerate the convergence speed of the joint angles, and the equivalent reaching law is introduced to suppress the chattering effect of the system. At the same time, the problem of parameter tuning of the controller is solved with the help of the glowworm swarm optimization algorithm which is used to obtain the optimal control performance. Finally, the effectiveness of the proposed control method in this paper is verified by simulation and experiment. The results show that the control method in this paper has higher tracking accuracy than integral sliding mode control, and can ensure that the palletizing manipulator can better track the upper reference trajectory, which has certain engineering application value.