Sai Huayang, Xu Zhenbang, He Shuai, Zhang Enyang, Zhu Lin
CAS Key Laboratory of On-orbit Manufacturing and Integration for Space Optics System, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China; University of Chinese Academy of Sciences, Beijing 100049, China.
CAS Key Laboratory of On-orbit Manufacturing and Integration for Space Optics System, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China; Center of Materials Science and Optoelectronics Engineering, University of Chinese Academy of Sciences, Beijing 100049, China.
ISA Trans. 2022 Apr;123:46-60. doi: 10.1016/j.isatra.2021.05.011. Epub 2021 May 25.
This paper describes an adaptive nonsingular fixed-time sliding mode control (ANFSMC) scheme under actuator saturation that can track the trajectory of a robotic manipulator under external disturbances and inertia uncertainties. First, a novel NFSMC that offers rapid convergence and avoids singularities is proposed for ensuring robotic manipulators global approximate fixed-time convergence. An ANFSMC is then developed for which the bound of the coupling uncertainty is not necessary to know in advance. The controller exhibits small absolute tracking errors and consumes little energy. An actuator saturation compensator is designed and shown to minimize the chattering of the system while accelerating the trajectory tracking. The proposed schemes are analyzed using Lyapunov stability theory, and their effectiveness and superiority are demonstrated through numerical simulations.
本文描述了一种在执行器饱和情况下的自适应非奇异固定时间滑模控制（ANFSMC）方案，该方案能够在外部干扰和惯性不确定性下跟踪机器人操纵器的轨迹。首先，提出了一种新颖的非奇异固定时间滑模控制（NFSMC），它具有快速收敛性并避免奇异性，以确保机器人操纵器的全局近似固定时间收敛。然后，开发了一种ANFSMC，其耦合不确定性的界限无需预先知道。该控制器具有小的绝对跟踪误差且能耗低。设计了一个执行器饱和补偿器，结果表明它能在加速轨迹跟踪的同时最小化系统的抖振。利用李雅普诺夫稳定性理论对所提出的方案进行了分析，并通过数值模拟验证了其有效性和优越性。
