基于分数阶微积分的机械臂迭代滑模控制策略研究

为提高工业机械臂的控制性能,将分数阶微积分理论与迭代学习控制及滑模控制相结合,提出一种有效的分数阶迭代滑模控制策略.在控制器的设计过程中,分别采用分数阶趋近律与分数阶滑模控制律两种方法将分数阶微积分引入到迭代滑模控制中,提出分数阶迭代滑模控制策略.并使用李雅普诺夫理论分析系统的稳定性.然后以一个两关节机械臂为例,通过MATLAB仿真对所提出的控制策略进行了验证.实验表明:分数阶迭代滑模控制策略可以有效提高关节的跟踪速度和跟踪精度,减小跟踪误差,具有较强的鲁棒性,并有效地抑制了滑模控制的抖振现象.

Iterative sliding mode control strategy of robotic arm based on fractional calculus

In order to improve the control performance of industrial robotic arms,an efficient fractional-order iterative sliding mode control method is proposed by combining fractional calculus theory with iterative learning control and sliding mode control.In the design process of the controller,fractional approaching law and fractional sliding mode control theories are used to introduce fractional calculus into iterative sliding mode control,and Lyapunov theory is used to analyze the system stability. Then taking a two-joint robotic arm as an example,the proposed control strategy is verified by MATLAB simulation.The simulation experiments show that the fractional-order iterative sliding mode control strategy can effectively improve the tracking speed and tracking accuracy of the joint,reduce the tracking error,have strong robustness and effectively suppress the chattering phenomenon of sliding mode control.