基于快速终端滑模算法的机械手跟踪控制研究

提出了一种模糊自适应快速终端滑模控制方法。该控制方法采用多幂次趋近律构造趋近运动，用以提高趋近滑模面的速度，然后对常规的终端滑模面进行改进，提高沿滑模面收敛的速度。为消除控制系统中存在的不确定因素和建模误差，该控制算法还引进模糊自适应方法进行在线逼近。利用李雅普诺夫定理证明了所提出算法的稳定性。最后基于MATLAB与ADAMS联合仿真平台，采用所提出的算法对自行设计的3R型机械手进行轨迹跟踪研究，仿真结果显示，本控制方法具有更快的收敛性和更强的鲁棒性，有效地抑制了滑模控制中存在的振荡。

Research on Tracking Control for Robot Manipulator Based on Fast Terminal Sliding Mode Method

An adaptive fuzzy fast terminal sliding mode control method was proposed herein.In order to improve the the convergence speed,this method usd a multi power reaching law combind with fast terminal sliding-mode control. Adaptive fuzzy method was employed to approximate to the uncertain factor in the system of robotic manipulators. The system stability was proved by Lyapunov principle.The co-simulation of the 3R robotic maniputlators which was desined by authors was performed based on ADAMS and MATLAB. It turns out that the method has better convergence，and enhances robustness and reduces chatter.