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针对多关节机械手关节轨迹跟踪控制问题,将机械手动力学模型分解为名义模型和建模误差两部分,并对两部分用跟踪位置误差和速度误差定义滑模函数,对这两部分设计控制律,提出了基于名义模型的机械手PI鲁棒滑模控制方法.通过定义基于积分型的Lyapunov函数,证明了控制系统是全局渐近稳定的.利用该控制器对三关节机械手进行关节力矩控制,使三关节能在3s内实现对理想轨迹的跟踪,三关节均具有良好的位置跟踪和速度跟踪性能.仿真实验验证了控制器设计的有效性,并且通过合理选择控制器参数,能够消除滑模控制器输出所存在的抖振现象.
In order to solve the joint tracking control problem of multi-joint manipulator, the mechanical dynamics model is decomposed into two parts: nominal model and modeling error. The two parts are used to define the sliding mode function of tracking position error and velocity error, A robust PI sliding mode control method based on nominal model is proposed. By defining the Lyapunov function based on integral type, it is proved that the control system is globally asymptotically stable. By using this controller to control joint torque of three-joint manipulator, The joint can track the ideal trajectory within 3s, and the three joints have good position tracking and speed tracking performance.The simulation results verify the effectiveness of the controller design, and by reasonably selecting the controller parameters, the sliding mode controller Output chattering phenomenon exists.