| 快速终端滑模控制在并联机器人中的应用 |
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| 引用本文： | 邬燕忠,高国琴,严琴.快速终端滑模控制在并联机器人中的应用[J].机械设计与制造,2010(4). |
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| 作者姓名： | 邬燕忠 高国琴 严琴 |
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| 作者单位： | 江苏大学,电气信息工程学院,镇江,212013 |
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| 基金项目： | 镇江市工业科技攻关项目(GY2007006) |
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| 摘 要： | 针对二自由度冗余驱动并联机器人,提出了并联机器人的快速终端滑模控制(FTSMC)以实现其鲁棒控制,并利用Lyapunov函数证明了该控制系统的稳定性。仿真结果表明,该控制系统跟踪效果好,系统误差小,可以满足并联机器人控制的要求。与采用普通滑模控制相比,该控制系统具有状态响应速度快,系统状态在有限时间内收敛到零的特点。仿真实验证实了该控制策略的正确性和有效性。
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| 关 键 词： | 并联机器人 快速终端滑模控制 控制策略 仿真 |
The application of fast terminal sliding mode control to parallel robot |
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| WU Yan-zhong,GAO Guo-qin,YAN Qin.The application of fast terminal sliding mode control to parallel robot[J].Machinery Design & Manufacture,2010(4). |
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| Authors: | WU Yan-zhong GAO Guo-qin YAN Qin |
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| Affiliation: | School of Electrical and Information Engineering of Jiangsu University/a>;Zhenjiang 212013/a>;China |
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| Abstract: | Aiming at 2-DOF parallel robot which is drived by servo AC motor,fast terminal sliding mode control of parallel robot is presented in order to realize its robust control and the asymptotical stability of the closed-loop system is guaranteed using Lyapunov method. Simulation results show that the control method of tracking sliding takes good effect,the system error is small,satisfying the requirements of robot control. The controller gains advantages over conventional sliding mode control,which states respon... |
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| Keywords: | Parallel robot Fast terminal sliding mode control Control strategy Simulation |
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