一种自适应扰动观测器的机械手滑模控制研究

针对在未知载荷下的机械手控制不确定性问题,基于非线性扰动观测器与滑模控制方法,提出一种非线性观测器增益的通用设计方法。通过设计一种自适应算法的非线性扰动观测器,逼近机械手的未知载荷引起的不确定性,来估计由未知恒定载荷所引起的外力,扩大了观测器扰动的适用范围。在一定条件下,利用Lyapunov方法证明了观测器的稳定性。通过算例仿真验证了所提出的自适应非线性观测器的滑模控制方法,在受载荷变化的非线性机械手控制系统等方面,能够有效缓解机械手控制的抖振问题。

Research on Sliding Mode Control of Manipulator Based on Adaptive Disturbance Observer

For the uncertain control of manipulator under unknown load, a general method for designing the gain of nonlinear observer was proposed based on the nonlinear disturbance observer and sliding mode control method. By designing an adaptive nonlinear disturbance observer, the uncertainty caused by unknown load of manipulator was approached, and the external force caused by unknown constant load was estimated, and the scope of observer disturbance was extended. Under certain conditions, Lyapunov square method was used to prove the stability of the observer. The simulation results show that the sliding mode control method of adaptive nonlinear observer can be used to effectively alleviate the chattering problem of manipulator control in the control system of nonlinear manipulator with load change.