[1]崔博文.考虑关节摩擦的机械臂系统变结构自适应控制[J].集美大学学报(自然版),2020,25(4):287-292.
 CUI Bowen.Variable Structure Adaptive Control of Robot Manipulator with Joint Friction[J].Journal of Jimei University,2020,25(4):287-292.
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考虑关节摩擦的机械臂系统变结构自适应控制()
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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:
287-292
栏目:
船舶与机械工程
出版日期:
2020-07-28

文章信息/Info

Title:
Variable Structure Adaptive Control of Robot Manipulator with Joint Friction
作者:
崔博文
(集美大学轮机工程学院,福建 厦门 361021 )
Author(s):
CUI Bowen
(School of Marine Engineering ,Jimei University,Xiamen 361021,China)
关键词:
机械臂关节摩擦期望轨迹变结构自适应控制
Keywords:
robot manipulatorjoints frictiondesired trajectoryvariable structureadaptive control
摘要:
针对机械臂关节非线性摩擦因素影响,结合滑模变结构控制方法,提出一种考虑关节摩擦作用的机器臂系统变结构自适应控制方法。通过定义Lyapunov函数,获得了参数自适应律。在回归矩阵计算中,利用期望轨迹及速度替代关节实际轨迹及速度,有效节约了回归矩阵计算时间。仿真结果表明,该方法对系统不确定性和非线性关节摩擦等干扰具有很好的鲁棒性。
Abstract:
Aimed at the influence of nonlinear friction with the manipulator joints,the paper presents a variable structure adaptive control of robot manipulator with joint friction based on sliding mode variable structure control algorithm.By defining Lyapunov function,the parameter adaptation law was obtained.On computing the regressor matrix,the real trajectories and velocity of joints were replaced by theirs desired trajectories and velocity,and the calculation time was effectively saved.The simulation results show that the method proposed in the paper is robust to disturbance of dynamic uncertainty and nonlinear friction.
更新日期/Last Update: 2020-09-16