不确定系统的变结构鲁棒自适应控制及其在机械手控制中的应用

Variable Structure Robust Adaptive Control for Uncertain Nonlinear Systems and It`S Application to Manipulators

中文关键词  非线性系统  变结构控制  鲁棒控制  自适应  滑动模态

英文关键词  nonlinear system  variable structure control  robust control  adaptive  sliding mode

中文摘要

      本文针对一类不确定非线性系统，通过状态微分同坯变换和反馈控制建立了系统的变结构鲁棒控制设计过程，并在此基础上提出了一种新型的变结构鲁棒自适应控制算法。该算法优点是：1）不需要确切知道系统不确定性，也不需要知道不确定性的界，而是利用自适应规律对系统不确定性范围进行在线估计；2）能够保证系统获得较为满意的动态性能；3）控制规律是连续性的，因为避免了一般变结构系统中的不连续控制所导致的颤振现象。为了说明本文所提算法的正确性，本文还以二连杆机械手为例讨论其终端夹持不定载荷时的轨迹跟踪问题。

英文摘要

      In this paper, the variable structure control problem is studied for a class of affine nonlinear systems with uncertainty. Based on analyzing and synthesizing the algorithm of variable structure robust control (VSRC), a new variable structure robust adaptive control (VSRAC) algorithm is proposed which exhibits the following properties: 1) The VSRAC algorithm does not need a priori estimation on the bound of uncertainty, an adaptive algorithm for the on-line estimation of the bound is constructed VSRAC is only depended on this estimation; 2) The VSRAC algorithm can guarantee not only the insensitivity of system in sliding mode to uncertainty or the bound of uncertainty, but also the satisfactory dynamical performance of system obtained; 3) The control law is continuous which therefore obviates the undesirable phenomenon known as chattering in variable structure systems. To apply the algorithms developed above to practical systems, the control problem of a two-link manipulator end-effector with uncertain load is considered and satisfactory results are obtained.