基于趋近律的机械臂滑模控制方法研究

为了满足机械臂系统高性能的控制要求,对高为炳提出的指数趋近律进行分析,并研究了机械臂的运动学特性,在此基础上对指数趋近律进行优化设计,改进了指数趋近律,并证明了其存在性。根据改进的趋近律,以机械臂为控制对象,设计了滑模控制策略,并用Matlab进行仿真。仿真结果表明,该方法不仅能满足系统的快速跟踪性,而且能有效抑制滑模变结构控制中存在的抖振问题。

Research of a Sliding Mode Control Strategy for Manipulator Arm Based on Reaching Law

In order to meet the high performance control requirement of manipulator arm system, the exponential reaching law was analyzed and manipulator arm's dynamics characteristics were investigated. On the basis of it the exponential reaching law was improved and its existence was proved. According to the improved reaching law, the sliding mode control strategy was designed and simulated through Matlab with a manipulator arm as the control object. The simulated results show that the method is able to meet the system fast tracking and restrain the chattering problem in the sliding mode variable structure control.