基于非线性干扰观测器的机械臂终端滑模控制
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摘要
为了在干扰存在的情况下实现对五自由度机械臂的有效控制,提出了一种基于非线性干扰观测器的终端滑模控制策略.通过选择适当的非线性增益函数,干扰观测器能够精确地估计未知干扰,实现对控制器的补偿,降低滑模控制抖振.非奇异快速终端滑模面的设计提高了收敛速度,保证轨迹跟踪误差在有限时间内快速收敛.基于Lyapunov方法证明了闭环系统的稳定性,数值仿真结果验证了所设计方法的有效性.
In order to realize the effective control of five degree-of-freedom robotic manipulator in the presence of disturbances,the formulation of a terminal sliding mode controller based on nonlinear disturbance observer was proposed. Through selecting suitable nonlinear gain function,the disturbance observer could estimate the unknown disturbances accurately,so as to compensate for the controller and reduce the chattering of the sliding mode control. Convergence speed of the system was accelerated due to the design of a nonsingular fast terminal sliding manifold,which guaranteed that the trajectory tracking error converged in finite time. The stability of the closed-loop system was proved by Lyapunov method,and the effectiveness of the proposed scheme was verified by numerical simulation results.
In order to realize the effective control of five degree-of-freedom robotic manipulator in the presence of disturbances,the formulation of a terminal sliding mode controller based on nonlinear disturbance observer was proposed. Through selecting suitable nonlinear gain function,the disturbance observer could estimate the unknown disturbances accurately,so as to compensate for the controller and reduce the chattering of the sliding mode control. Convergence speed of the system was accelerated due to the design of a nonsingular fast terminal sliding manifold,which guaranteed that the trajectory tracking error converged in finite time. The stability of the closed-loop system was proved by Lyapunov method,and the effectiveness of the proposed scheme was verified by numerical simulation results.
引文
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[7] MOHAMMADI A,TAVAKOLI M,MARQUEZ H J,et al. Nonlinear disturbance observer design for robotic manipulators[J].Control engineering practice,2013,21(3):253-267.
[8] CHU Z Y,CUI J,SUN F C. Fuzzy adaptive disturbance-observer-based robust tracking control of electrically driven free-floating space manipulator[J]. IEEE systems journal,2014,8(2):343-352.
[9] BOUAKRIF F. Trajectory tracking control using velocity observer and disturbances observer for uncertain robot manipulators without tachometers[J]. Meccanica,2017,52(4/5):861-875.
[10] LI S H,DU H B,LIN X Z. Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics[J]. Automatica,2013,47(8):1706-1712.
[11] WANG X,LI S,SHI P. Distributed finite-time containment control for double-integrator multiagent systems[J]. IEEE transactions on cybernetics,2014,44(9):1518-1528.
[12] YU S H,YU X H,SHIRINZADEH B,et al. Continuous finite-time control for robotic manipulators with terminal sliding mode[J]. Automatica,2005,41(11):1957-1964.
[13] KANG H B,WANG J H. Adaptive control of 5 DOF upper-limb exoskeleton robot with improved safety[J]. ISA transactions,2013,52(6):844-853.
[2] CHENG L,HOU Z G,TAN M. Brief paper:adaptive neural network tracking control for manipulators with uncertain kinematics,dynamics and actuator model[J]. Automatica,2009,45(10):2312-2318.
[3]陈志旺,薛佳伟.基于不确定逼近的机械手自适应鲁棒预测控制[J].控制理论与应用,2012,29(5):635-641.
[4] CUONG P V,WANG Y N. Adaptive trajectory tracking neural network control with robust compensator for robot manipulators[J]. Neural computing and applications,2016,27(2):525-536.
[5]于靖,陈谋,姜长生.基于干扰观测器的非线性不确定系统自适应滑模控制[J].控制理论与应用,2014,31(8):993-999.
[6] CHEN W H,BALLANCE D J,GAWTHROP P J,et al. A nonlinear disturbance observer for robotic manipulators[J]. IEEE transactions on industrial electronics,2000,47(4):932-938.
[7] MOHAMMADI A,TAVAKOLI M,MARQUEZ H J,et al. Nonlinear disturbance observer design for robotic manipulators[J].Control engineering practice,2013,21(3):253-267.
[8] CHU Z Y,CUI J,SUN F C. Fuzzy adaptive disturbance-observer-based robust tracking control of electrically driven free-floating space manipulator[J]. IEEE systems journal,2014,8(2):343-352.
[9] BOUAKRIF F. Trajectory tracking control using velocity observer and disturbances observer for uncertain robot manipulators without tachometers[J]. Meccanica,2017,52(4/5):861-875.
[10] LI S H,DU H B,LIN X Z. Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics[J]. Automatica,2013,47(8):1706-1712.
[11] WANG X,LI S,SHI P. Distributed finite-time containment control for double-integrator multiagent systems[J]. IEEE transactions on cybernetics,2014,44(9):1518-1528.
[12] YU S H,YU X H,SHIRINZADEH B,et al. Continuous finite-time control for robotic manipulators with terminal sliding mode[J]. Automatica,2005,41(11):1957-1964.
[13] KANG H B,WANG J H. Adaptive control of 5 DOF upper-limb exoskeleton robot with improved safety[J]. ISA transactions,2013,52(6):844-853.