多关节套索驱动机械臂的自适应滑模鲁棒控制

套索驱动的机械臂在运动过程中,末端执行器的姿态变化会导致关节伺服系统的负载转动惯量发生改变.负载转动惯量的摄动会造成系统的建模失配,产生建模不确定性,系统鲁棒性下降.首先,根据D-H坐标法建立了基于套索传动机械臂的动力学模型;其次,提出自适应滑模鲁棒控制的基本策略,对机械臂进行控制;再次,引入HJI理论,通过对Lyap...

Adaptive Sliding Mode Robust Control of Multi-joint Lasso Driven Manipulator

During the movement of the lasso-driven manipulator,the posture change of the end effector will cause the load moment of inertia of the joint servo system to change.The perturbation of the load moment of inertia will cause the modeling mismatch of the system,generate modeling uncertainty,and reduce the robustness of the system.First,the dynamic model of the manipulator based on lasso transmission is established according to the D-H coordinate method;then,the basic strategy of adaptive sliding mode robust control is proposed to control the manipulator;next,the HJI theory is introduced,and the Lyapunov function Design,establish the sliding mode control law,select the overall dynamic model of the mechanical arm as the research object,introduce uncertain parameters,and perform simulation analysis;finally,through the prototype experiment,the conventional sliding mode control and the adaptive sliding mode based on the HJI theory The control strategies of robust control are compared to verify the effectiveness of the method proposed in this paper.