并联机器人轨迹跟踪离散变结构鲁棒控制器设计

本文根据并联机器人支撑杆教学模型参数摄动较大和时变的特点，设计了一种用于并联机器人轨迹跟踪的离散滑模变结构鲁棒控制器，通过引入变速趋近律，控制系统响应速度快，对参数摄动和外界干扰具有较强的鲁棒性，仿真研究结果表明，本文的控制方案能实现较高精度的快速轨迹跟踪，同时可削弱或避免通常变结构控制中不可避免的抖振。

A robust controller designed with discrete variable structure for path tracking of a parallel robot

Based on the great variations and time variable parameters of the mathematical model of a parallel robot,a kind of robust controller is designed with a discrete sliding mode variable structure for path tracking of the parallel robot.The control system has a fast transient response and exhibits strong robustness to parameter variations and external disturbances by introducing the variable rate reaching law.The simulation result shows that this control scheme can rapidly achieve the path tracking in high precision and that the chattering phenomenon which is inherent to the variable sturcture control is weakened and avoided.