基于快速非奇异终端滑模的机械臂轨迹跟踪方法

doi:10.13229/j.cnki.jdxbgxb20181083

Abstract

Abstract:

To drive the robotic manipulator tracking the desired trajectory, a novel modern control method based on the nonsingular terminal sliding mode is designed in this paper. Combining the traditional fast terminal sliding mode and the nonsingular terminal sliding mode, the proposed control method possesses the characteristics of rapidity, nonsingularity, finite-time convergence and strong robustness. The chattering from sliding mode controller can also be suppressed effectively. Here, the mathematical model of robotic manipulator structure which can be simplified as a 2-DOF rigid linkage system is built, firstly. Next, a robust controller is designed. Then, the Lyapunov function is constructed to verify its stability. Finally, detailed simulations with some comparisons demonstrate the effectiveness of the proposed method.

Key words: automatic control technology, manipulator control, terminal sliding mode control theory, nonsingularity, finite-time convergence

CLC Number:

TP273

Wei WANG,Jian-ting ZHAO,Kuan-rong HU,Yong-cang GUO. Trajectory tracking of robotic manipulators based on fast nonsingular terminal sliding mode[J].Journal of Jilin University(Engineering and Technology Edition), 2020, 50(2): 464-471.

Figures/Tables 10

Fig.1

Fig.2

Table 1

Sliding mode and controller design parameters"

滑模及控制器	$β$	$a$	$b$	$ε$
FTSM	$7.5$	$5$	$3$	$5$
NTSM	$7.5$	$5$	$3$	$5$
FNTSM	$7.5$	$5$	$3$	$5$

Table 1

Fig.3

Fig.7

Fig.6

Fig.4

Fig.5

Table 2

Control parameters"

Case	$β$	$λ$	$α$
1	7.50	150	100
2	3.75	150	100
3	7.50	75	50

Table 2

Fig.8

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Trajectory tracking of robotic manipulators based on fast nonsingular terminal sliding mode

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