关键词: 多模型控制, 反演控制, 滑模控制, 机器人

Abstract:

To solve the problem that the environment changing imparts the system model, a good way to improve the performance of the controller is to use multiple models control if models are approximately available for different environments. We design a PID(Proportion\|Integral\|Differential) performance index with weighting factors and forgetting factors, which make the performance index more in real-time. This backstepping controller applied to Robot Manipulator, differs from standard backstepping in that the virtual control inputs are designed based on estimates of the previous virtual control inputs. This eliminates the need for taking derivatives of the system dynamics, which simplifies the control law. The design methodology is based on the Lyapunov stability. The simulation results demonstrate the effectiveness and fasibility of the proposed control strategy. PID-type switching index function, which increased forgetting factor making the witching more accurate and reasonable. The simulation results demonstrate the effectiveness and fasibility of the proposed control strategy.

Key words: multi-model, back-stepping, sliding mode(SM), robotic manipulators