Wu Xiru, Huang Yuyuan
College of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin, Guangxi, 541004, PR China.
ISA Trans. 2022 Feb;121:258-267. doi: 10.1016/j.isatra.2021.03.035. Epub 2021 Mar 29.
This paper studies a novel adaptive fractional-order non-singular terminal sliding mode (FO-NTSM) control strategy for omnidirectional mobile robot manipulator (OMRM) with unknown parameters and external disturbances. Firstly, we adopt the fuzzy wavelet neural networks (FWNNs) to estimate the dynamic uncertainty of the OMRM because it has superior function approximation capability. Secondly, we design the adaptive NTSM controller to attenuate external disturbances by virtue of adjusting the weights of the FWNNs online. Moreover, we obtain a fractional-order (FO) control criterion, which speed up the convergence of the algorithm. In addition, we prove the globally robust stability of the OMRM control system through a designed Lyapunov function. Finally, simulation and experiment researches indicate the feasible and validity of the presented method.
本文研究了一种针对具有未知参数和外部干扰的全方位移动机器人机械手（OMRM）的新型自适应分数阶非奇异终端滑模（FO-NTSM）控制策略。首先，我们采用模糊小波神经网络（FWNNs）来估计OMRM的动态不确定性，因为它具有卓越的函数逼近能力。其次，我们设计自适应NTSM控制器，通过在线调整FWNNs的权重来减弱外部干扰。此外，我们得到了一个分数阶（FO）控制准则，这加快了算法的收敛速度。另外，我们通过设计的李雅普诺夫函数证明了OMRM控制系统的全局鲁棒稳定性。最后，仿真和实验研究表明了所提方法的可行性和有效性。
