基于终端滑模的机械手鲁棒自适应控制

Robust adaptive control of robotic manipulators based on terminal sliding mode

中文关键词  机械手  鲁棒控制  自适应控制  终端滑模  死区

英文关键词  robotic manipulator  robust control  adaptive control  terminal sliding mode  dead-zone

中文摘要

      对于不确定的机械手系统, 提出一种鲁棒自适应控制方法, 用自适应控制来估计系统的未知参数, 用终端滑模控制来减少不确定因素的影响, 为了避免因干扰的存在使自适应的估计参数发生漂移, 引入死区自适应控制.仿真表明, 滑模控制不仅抑制了误差, 而且消除了死区自适应算法的局限性, 该算法在取得较好控制效果的同时, 具有很强的鲁棒性.

英文摘要

      A robust adaptive controller is proposed for uncertain robotic manipulators. The controller estimates the unknown physical parameters by adaptive law and eliminates the uncertainties by terminal sliding mode control. Dead-zone adaptive control strategy is then employeed to prevent the drift of the estimated parameters.Simulation studies indicate that the sliding mode control can not only reject the disturbances, but also eliminate the drawback of the dead-zone adaptive control. Hence, a satisfactory control performance as well as a strong robustness can be achieved.