| 直接驱动型机械手的变结构控制 |
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| 引用本文： | 费跃农.直接驱动型机械手的变结构控制[J].机械与电子,2007(7):55-57. |
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| 作者姓名： | 费跃农 |
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| 作者单位： | 深圳大学机电与控制工程学院,广东,深圳,518060 |
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| 摘 要： | 针对直接驱动型机械手的随动控制问题,提出了一种基于滑动模态扰动观测器的变结构控制器.通过观测由系统的非线性、模型的不确定性和外来干扰所造成的广义扰动,将非线性、强耦合的机械手动力学系统线性化,并解耦为多个单输入、单输出线性系统.控制器的设计不再依赖于机械手的精确模型.在二连杆机械手上做的仿真研究表明,在负载大范围变化的条件下,采用滑动模态扰动观测器的控制系统,比全状态反馈的控制系统具有更好的鲁棒性.
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| 关 键 词： | 机械手 滑动模态观测器 变结构控制 假想状态 扰动估计 直接驱动 机械手 变结构控制 Robot Manipulators Direct Drive Structure Control 鲁棒性 全状态反馈 控制系统 条件 变化 范围 负载 仿真研究 二连杆 精确模型 设计 线性系统 单输出 单输入 |
| 文章编号： | 1001-2257（2007）07-0055-03 |
| 修稿时间： | 2007-01-28 |
Variable Structure Control of Direct Drive Robot Manipulators |
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| FEI Yue-nong.Variable Structure Control of Direct Drive Robot Manipulators[J].Machinery & Electronics,2007(7):55-57. |
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| Authors: | FEI Yue-nong |
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| Affiliation: | College of Mechatronics and Control Engineering,Shenzhen University, Shenzhen 518060,China |
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| Abstract: | A variable structure controller based on a sliding mode perturbation observer is presented for the tracking control of direct drive robot manipulators.Nonlinear,strongly cross coupled robot dynamics is linearized and decoupled into SISO linear subsystems,by observing system states and perturbations which involve system nonlinearities,disturbances and unmodelled dynamics.The controller design does not need an accurate model of the robot manipulator.Simulation studies are undertaken with a two-link robot manipulator,with wide range of payload change,to evaluate the proposed approach.The simulation results show that it has more superior tracking control performance and more robust in comparison with controllers designed based on state feedback linearization with full states available. |
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| Keywords: | robot manipulator sliding mode observer variable structure control fictitious state perturbation estimation |
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