共查询到19条相似文献,搜索用时 62 毫秒
1.
2.
3.
4.
5.
6.
参数不确定柔性机械手的快速终端滑模控制 总被引:2,自引:0,他引:2
针对具有参数不确定性的柔性机械手,采用重新定义系统输出的方法,将系统分解为输入输出子系统和零动态子系统.对于输入输出子系统提出了一种递阶快速终端滑模控制策略,使得输入输出子系统在有限时间内收敛.将零动态子系统在平衡点近似线性化以选择控制器的设计参数,使零动态子系统在平衡点附近渐近稳定,从而保证了整个柔性机械手系统的渐近稳定,对系统中的不确定性具有较强的鲁棒性.仿真结果验证了所提方法的正确性. 相似文献
7.
针对存在外部干扰、转动惯量矩阵不确定以及执行器故障的航天器姿态跟踪控制问题,本文提出了基于自适应快速非奇异终端滑模的有限时间收敛故障容错控制方案.通过引入能够避免奇异点,且具有有限时间收敛特性的快速非奇异终端滑模面,设计了满足多约束条件有限时间收敛的姿态跟踪容错控制律,利用参数自适应方法使控制器不依赖转动惯量和外部干扰的上界信息.Lyapunov稳定性分析表明:在存在外部干扰、转动惯量矩阵不确定以及执行器故障等约束条件下,本文设计的控制律能够保证闭环系统的快速收敛性,而且对执行器故障具有良好的容错性能.数值仿真校验了该控制律在姿态跟踪控制中的优良性能. 相似文献
9.
为提高永磁同步直线电机伺服系统的控制精度和鲁棒性,满足高速度高精度运动控制系统的要求,提出了一种快速终端滑模控制方法并建立了电机系统数学模型.分析和证明该控制算法的稳定性和鲁棒性.与传统的滑模控制方法相比,该算法确保了系统状态在平衡点邻域内具有更快的收敛速度,并最终收敛至平衡点.通过选择控制算法中合适的参数值,系统可达... 相似文献
10.
11.
In order to apply the terminal sliding mode control to robot manipulators, prior knowledge of the exact upper bound of parameter
uncertainties, and external disturbances is necessary. However, this bound will not be easily determined because of the complexity
and unpredictability of the structure of uncertainties in the dynamics of the robot. To resolve this problem in robot control,
we propose a new robust adaptive terminal sliding mode control for tracking problems in robotic manipulators. By applying
this adaptive controller, prior knowledge is not required because the controller is able to estimate the upper bound of uncertainties
and disturbances. Also, the proposed controller can eliminate the chattering effect without losing the robustness property.
The stability of the control algorithm can be easily verified by using Lyapunov theory. The proposed controller is tested
in simulation on a two-degree-of-freedom robot to prove its effectiveness. 相似文献
12.
In this study, a new terminal sliding mode control approach is developed for robotic manipulators based on finite-time stability theory and differential inequality principle. The corresponding stability analysis is presented to lay a foundation for theoretical understanding to the underlying design issue as well as safe operation for real system. An illustrative example of a two-link rigid robotic manipulator is presented to validate effectiveness of the proposed approach. 相似文献
13.
Finite time position synchronised control for parallel manipulators using fast terminal sliding mode
A new finite time position synchronised control approach for parallel manipulators is proposed using a fast terminal sliding mode (TSM). By developing a novel synchronisation and coupling position error, a non-singular fast TSM is proposed in coupling position error space. The proposed controller can guarantee position error and synchronisation error converge to zero in a finite time simultaneously without requiring the explicit using system dynamic model. The corresponding stability analysis is presented to lay a foundation for theoretical understanding to the underlying issues as well as safe operation for real systems. An illustrative example is demonstrated in support of the effectiveness of the proposed approach. 相似文献
14.
Non-singular terminal sliding mode control of rigid manipulators 总被引:48,自引:0,他引:48
This paper presents a global non-singular terminal sliding mode controller for rigid manipulators. A new terminal sliding mode manifold is first proposed for the second-order system to enable the elimination of the singularity problem associated with conventional terminal sliding mode control. The time taken to reach the equilibrium point from any initial state is guaranteed to be finite time. The proposed terminal sliding mode controller is then applied to the control of n-link rigid manipulators. Simulation results are presented to validate the analysis. 相似文献
15.
对于不确定的机械手系统,提出一种鲁棒自适应控制方法,用自适应控制来估计系统的未知参数,用终端滑模控制来减少不确定因素的影响,为了避免因干扰的存在使自适应的估计参数发生漂移,引入死区自适应控制.仿真表明,滑模控制不仅抑制了误差,而且消除了死区自适应算法的局限性,该算法在取得较好控制效果的同时,具有很强的鲁棒性. 相似文献
16.
为解决现有终端滑模控制算法在收敛速度和抖振方面的问题, 提出一种连续非奇异快速终端滑模控制方法. 采用变系数双幂次趋近率和非奇异快速终端滑模面相结合的设计方式, 提高系统状态在趋近和滑动阶段的收敛速度. 通过Lyapunov 稳定性方法证明所提出的控制率可使得状态轨迹在扰动存在的情况下, 在有限时间内快速收敛到一个区域. 与传统方法相比, 所提出的控制率是连续的, 因此抑制了抖振, 拥有更高的控制精度. 将所提出的方法应用于光电稳定平台, 仿真结果验证了算法的有效性.
相似文献17.
A novel fuzzy terminal sliding mode control (FTSMC) scheme is proposed for position tracking of a class of second-order nonlinear uncertain system. In the proposed scheme, we integrate input-output linearization technique to cancel the nonlinearities. By using a function-augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily. The proposed scheme eliminates reaching phase problem, so that the closed-loop system always shows invariance property to parameter uncertainties. Fuzzy logic systems are used to approximate the unknown system functions and switch item. Robust adaptive law is proposed to reduce approximation errors between true nonlinear functions and fuzzy systems, thus chattering phenomenon can be eliminated. Stability of the proposed control scheme is proved and the scheme is applied to an inverted pendulum system. Simulation studies are provided to confirm performance and effectiveness of the proposed control approach. 相似文献
18.
A novel fuzzy terminal sliding mode control (FTSMC) scheme is proposed for position tracking of a class of second-order nonlinear uncertain system. In the proposed scheme, we integrate input-output linearization technique to cancel the nonlinearities. By using a function-augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily. The proposed scheme eliminates reaching phase problem, so that the closed-loop system always shows invariance property to parameter uncertainties. Fuzzy logic systems are used to approximate the unknown system functions and switch item. Robust adaptive law is proposed to reduce approximation errors between true nonlinear functions and fuzzy systems, thus chattering phenomenon can be eliminated. Stability of the proposed control scheme is proved and the scheme is applied to an inverted pendulum system. Simulation studies are provided to confirm performance and effectiveness of the proposed control approach. 相似文献
19.
Continuous finite-time control for robotic manipulators with terminal sliding mode 总被引:15,自引:0,他引:15
A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes. The robustness of the controller is established using the Lyapunov stability theory. Theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained compared with the conventional continuous sliding mode control method. 相似文献