| 机械臂变指数趋近律滑模控制律设计 |
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| 引用本文： | 席雷平,陈自力,李小民.机械臂变指数趋近律滑模控制律设计[J].电光与控制,2012,19(4):47-49. |
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| 作者姓名： | 席雷平 陈自力 李小民 |
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| 作者单位： | 军械工程学院光学与电子工程系,石家庄,050003 |
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| 基金项目： | 军队重点实验室建设项目；军械工程学院院基金项目(YJJXM11015) |
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| 摘 要： | 针对机械臂滑模控制中存在抖振的问题,采用改进趋近律的思想来设计滑模控制律,以达到有效抑制抖振的目的。在对滑模控制的特点和常用的指数趋近律进行分析的基础上,提出了一种变指数趋近律,并对其趋近性能进行了分析;结合机械臂动力学模型和改进的趋近律设计了相应的滑模控制策略,对其控制效果进行了验证。仿真结果表明,该控制策略不仅有效地抑制了系统的抖振,而且保证了机械臂系统对期望轨迹的快速跟踪性,进而提高了机械臂的工作性能。
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| 关 键 词： | 机械臂 滑模控制 抖振 趋近律 |
| 收稿时间： | 2011/4/12 |
Design of a Sliding Mode Control Scheme Based on Improved Exponent Trending Law for Robotic Manipulators |
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| XI Leiping
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CHEN Zili
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LI Xiaomin.Design of a Sliding Mode Control Scheme Based on Improved Exponent Trending Law for Robotic Manipulators[J].Electronics Optics & Control,2012,19(4):47-49. |
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| Authors: | XI Leiping CHEN Zili LI Xiaomin |
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| Affiliation: | (Department of Optic and Electric Engineering,Ordnance Engineering College,Shijiazhuang 050003,China) |
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| Abstract: | A sliding mode control scheme was designed based on an improved trending law to deal with the chattering problem in sliding mode control of robotic manipulators.The traits of sliding mode control method and exponential trending law were analyzed,then a kind of improved exponent trending law was proposed and its trending performance was evaluated.The sliding mode control scheme was designed based on dynamic model of robotic manipulators and the new trending law,and its control effect was validated.The simulation results show that the scheme can control the chattering effectively,guarantee the rapid tracking to the desired trajectory,and enhance the operational performance of the robot manipulators. |
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| Keywords: | robotic manipulator sliding mode control chattering trending law |
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