基于虚拟主轴的分数阶趋近律同步控制策略

针对机械臂各关节高精度同步控制问题,选取与传统趋近律不同的分数阶趋近律,采用交叉耦合控制结构,提出了一种基于方差虚拟主轴的分数阶趋近律同步控制策略,并对所提的控制策略进行了稳定性证明。以两关节机械臂为研究对象进行了仿真验证。仿真结果表明:所提的控制策略可以使机械臂系统的跟踪误差和同步误差均快速收敛,且具有更快的响应速度和较强的鲁棒性。

Synchronous Control Strategy with Fractional OrderReaching Law Based on Virtual Principal Axis

Aiming at the problem of high precision synchronous control of the joints of manipulators, a fractional order reaching law which was different from the traditional reaching law was selected. A cross coupling control structure was proposed. A synchronous control strategy of fractional order reaching law based on the variance virtual principal axis was proposed. The stability of the proposed control strategy was proved. Simulation was carried out for a two joint manipulator. The simulation results showed that the proposed control strategy could make the tracking error and synchronization error of the manipulator system converge quickly, and had faster response speed and stronger robustness.