Jing Chenghu, Xu Hongguang, Niu Xinjian
Department of Fluid Control and Automation, Harbin Institute of Technology, Harbin, China.
Department of Fluid Control and Automation, Harbin Institute of Technology, Harbin, China.
ISA Trans. 2019 Aug;91:41-51. doi: 10.1016/j.isatra.2019.01.017. Epub 2019 Feb 4.
This study proposes an adaptive sliding mode disturbance rejection control with prescribed performance for robotic manipulators. A transformation with respect to tracking error using certain performance functions is used to ensure the transient and steady-state performances of the trajectory tracking control for robotic manipulators. Using the transformed error, a nonsingular terminal sliding mode surface is proposed. A continuous terminal sliding mode control (SMC) is presented to stabilize the system. To compensate for the uncertainty and external disturbance, a novel sliding mode disturbance observer is proposed. Considering the unknown boundary of the derivative of a lumped disturbance, an adaptive law based on the idea of equivalent control is designed. Combining the adaptive law, continuous nonsingular terminal SMC, and sliding mode disturbance observer, the adaptive sliding mode disturbance rejection control with prescribed performance is developed. Simulations are carried out to demonstrate the effectiveness of the proposed approach.
本研究提出了一种用于机器人机械手的具有规定性能的自适应滑模干扰抑制控制方法。利用某些性能函数对跟踪误差进行变换，以确保机器人机械手轨迹跟踪控制的瞬态和稳态性能。基于变换后的误差，提出了一种非奇异终端滑模面。提出了一种连续终端滑模控制（SMC）来稳定系统。为了补偿不确定性和外部干扰，提出了一种新型滑模干扰观测器。考虑到集总干扰导数的未知边界，设计了一种基于等效控制思想的自适应律。将自适应律、连续非奇异终端SMC和滑模干扰观测器相结合，开发了具有规定性能的自适应滑模干扰抑制控制方法。通过仿真验证了所提方法的有效性。
