不确定移动机械臂的反演滑模轨迹跟踪控制-《集美大学学报（自然科学版）》

文章信息/Info

Title:: Backstepping Sliding Mode Trajectory Tracking Control for Mobile Manipulator with Uncertanties

Author(s):: YANG Suzhen; (School of Mechanical Engineering,Zhangzhou Institute of Technology,Zhangzhou 363000,China)

Keywords:: mobile manipulator; trajectory tracking; back-stepping sliding mode control; non-holonomic system; uncertain system

摘要:: 针对一类受复杂不确定影响下的非完整移动机械臂轨迹跟踪问题，建立包含模型误差和外界扰动的不确定动力学模型，提出一种基于反演设计的滑模控制方法。该方法首先采用输入-输出非线性反馈进行系统线性化，建立包含总体不确定性的等价系统；然后，基于李雅普诺夫直接法两步反演设计幂次趋近率滑模控制器，有效抑制系统有界不确定性，减小滑模抖振，保证闭环控制系统渐进收敛，从而实现对参考轨迹的快速精确跟踪。仿真结果表明，该方法跟踪速度快，精度高。

Abstract:: Trajectory tracking control is one of the key technologies for mobile manipulator to implement efficient task operation.In this paper,aiming at the trajectory tracking problem of a class of nonholonomic mobile manipulators under complex uncertainties,an uncertain dynamic model including model errors and external disturbances is established,and a sliding mode control method based inverse design is proposed.Firstly,the input-output non-linear feedback is used to linearize the system,and an equivalent system with global uncertainties is established.Then,based on Lyapunov direct method,a power reaching rate sliding mode controller is designed by twostep backstepping.The bounded uncertainties of the system are effectively suppressed,the sliding mode chattering is reduced,and the asymptotic convergence of the closed-loop control system is guaranteed to achieve quick and accurate tracking of the reference trajectory.The simulation results demonstrate the effectiveness of this method.