[1]杨素珍.不确定移动机械臂的反演滑模轨迹跟踪控制[J].集美大学学报(自然版),2020,25(4):299-303.
 YANG Suzhen.Backstepping Sliding Mode Trajectory Tracking Control for Mobile Manipulator with Uncertanties[J].Journal of Jimei University,2020,25(4):299-303.
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不确定移动机械臂的反演滑模轨迹跟踪控制()
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《集美大学学报(自然版)》[ISSN:1007-7405/CN:35-1186/N]

卷:
第25卷
期数:
2020年第4期
页码:
299-303
栏目:
船舶与机械工程
出版日期:
2020-07-28

文章信息/Info

Title:
Backstepping Sliding Mode Trajectory Tracking Control for Mobile Manipulator with Uncertanties
作者:
杨素珍
(漳州职业技术学院机械工程学院,福建 漳州 363000 )
Author(s):
YANG Suzhen
(School of Mechanical Engineering,Zhangzhou Institute of Technology,Zhangzhou 363000,China)
关键词:
移动机械臂轨迹跟踪反演滑模控制非完整系统不确定系统
Keywords:
mobile manipulatortrajectory trackingback-stepping sliding mode controlnon-holonomic systemuncertain 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.
更新日期/Last Update: 2020-09-16