SCARA机器人模糊自适应滑模控制
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摘要
为了提高SCARA机器人的轨迹跟踪控制性能,提出了一种基于非奇异终端滑模面和改进的快速趋近律的滑模控制策略。设计了一种非奇异的快速终端滑模面,可在任意初始状态下收敛到平衡点;改进滑模控制的趋近律,在保证快速趋近的同时可有效抑制抖振,并采用双曲正切函数代替传统的符号函数,有效地消除了高频抖振。采用模糊控制调节趋近律参数,改善初始状态误差过大时引起的力矩冲击问题;基于SCARA机器人模型仿真实验表明,实验结果跟踪性能良好,输出力矩平滑。
To improve the trajectory tracking control performance of SCARA robot, a sliding mode control strategy based on nonsingular terminal sliding mode surface and the improved fast reaching law is proposed. A fast nonsingular terminal sliding mode surface is designed, which can converge to equilibrium point under arbitrary initial state and the convergence speed is faster than the traditional terminal sliding surface. The reaching law of improved sliding mode control can restrain the chattering effectively whilst also guaranteeing fast approaching, and with the use of hyperbolic tangent function instead of the traditional symbol function, the high frequency chattering is eliminated effectively. Furthermore, a fuzzy control method is utilized to adjust the parameters of the reaching law, improving the torque impact problems caused by too big initial state error. Simulation results which is based on SCARA robot model show that the tracking performance is good,the output torque is smooth.
To improve the trajectory tracking control performance of SCARA robot, a sliding mode control strategy based on nonsingular terminal sliding mode surface and the improved fast reaching law is proposed. A fast nonsingular terminal sliding mode surface is designed, which can converge to equilibrium point under arbitrary initial state and the convergence speed is faster than the traditional terminal sliding surface. The reaching law of improved sliding mode control can restrain the chattering effectively whilst also guaranteeing fast approaching, and with the use of hyperbolic tangent function instead of the traditional symbol function, the high frequency chattering is eliminated effectively. Furthermore, a fuzzy control method is utilized to adjust the parameters of the reaching law, improving the torque impact problems caused by too big initial state error. Simulation results which is based on SCARA robot model show that the tracking performance is good,the output torque is smooth.
引文
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[2]王良勇,杨枭.带有前馈和神经网络补偿的机械手系统轨迹跟踪控制[J].电机与控制学报,2013,17(8):113-118.
[3]Kazemi H,Ahangarian S,Hashempour A.Fuzzy path tracking control of a 5-DOF experimental robot[J].Information and Automation,2008:436-440.
[4]刘国荣,张杨名.移动机器人轨迹跟踪的模糊PID-P型迭代学习控制[J].电子学报,2013(8):1536-1541.
[5]Qiao Jihong,Dai Yaping,Liu Jinkun,et al.Robust adaptive fuzzy output tracking control of uncertain robot system using backstepping design[C]//Control Conference,2007:303-308.
[6]康宇,奚宏生,季海波.有限时间快速收敛滑模变结构控制[J].控制理论与应用,2004,21(4):623-626.
[7]Yu Xinghuo,Man Zhihong.Fast termianl sliding-mode control design for nonlinear dynamical sytems[J].IEEE Transactions on Fundamental Theory and Applications,2002,49(2):261-264.
[8]李鹏,孙未蒙,李文强.一种改进积分滑模面在飞控中的应用[J].控制工程,2010,17(3):269-271.
[9]Gao W,Hung J C.Variable structure control of nonlinear system:a new approach[J].IEEE Trans on Industrial Electronics,1993,40(1):45-55.
[10]Fallaha C J,Saad M,Kanaan H Y,et al.Sliding-Moderobot control with exponential reaching law[J].IEEE Trans on Industrial Electroics,2011,58(2):600-610.
[11]王燕,芦逸云,葛运旺.基于趋近律的力矩电机终端滑模轨迹跟踪控制[J].华中科技大学学报,2013,41(4):83-87.
[12]席雷平,陈自立,齐晓慧.具有抖振抑制特性的机械臂快速滑模变结构控制[J].电机与控制学报,2012,16(7):97-102.
[13]梅红,王勇.快速收敛的机器人滑模变结构控制[J].信息与控制,2009,38(5):552-557.
[14]蔡自兴.机器人学[M].2版.北京:清华大学出版社,2009.
[15]陆金伟,李跃民.SCARA机器人的完整动力学显方程的推导[J].振动、测试与诊断,1995,15(3):23-29.