具有时变开关平面的机器人滑动模式控制

为了使机器人力控制系统对接触刚度和载荷变化等不确定性因素具有鲁棒性,本文计论了滑动模式控制在机器人中的应用问题,提出了一种选择滑动开关平面的自适应算法,以加快系统轨迹的收敛速度,同时采用了近似的连续控制律来解决系统的高频震颤问题。实验表明,利用所提出的方法设计的机器人力控制器对接触刚度的变化具有很好的鲁棒性。

Sliding Modes Force Control of Manipulators with Time-varying Sliding Surfaces

In constrained environment, the uncertainties of the contact stiffness between a manipulator and the environment and paylord changes have a great effect on the force control system of the mainpulator. To increase the robustness and the resistant ability to disturbances of the control system, a further discussion was made on the theory of sliding modes control and its applications for the control of manipulators. An adaptive algorithm for selecting sliding surfaces was suggested to increase convergence speed of the system trajectories. Simultanously, an approximate continous control law was adopted to solve the chattering problem on the prerequisite for assuring trajectory accuracy. Experiments were conducted to show that the force controller designed with the method was robust to the changes of the contact stiffness.