摘要
为机械手线性化和随动控制设计了一种滑动模态扰动观测器.在观测系统状态的同时,估计由系统的非线性和模型的不确定性和外来的干扰所造成的广义扰动.它使非线性、强耦合的机械手系统可以仅靠关节角反馈实现线性化和解耦,且控制器的设计不依赖于机械手的精确模型.二连杆机械手仿真研究表明,在机械手荷载大范围变化的场合下,该控制器的随动控制性能优于采用全状态反馈线性化的控制器.
A sliding mode perturbation observer （SPO） was designed for linearization of robot manipulators. It can estimate unmeasurable states and system perturbations including system nonlinearities, disturbances and unmodelled dynamics. With SPO, robot manipulator systems can be linearized and decoupled merely by joint angle feedback and the controller design does not need an accurate model of robot manipulators. Simulation studies were taken on a twolink robot manipulator to evaluate the proposed approach. The simulation results show that controllers with SPO have superior tracking performances, over a wide range of payloads, compared to sliding mode controllers using state feedback linearization.
出处
《深圳大学学报（理工版）》
EI
CAS
北大核心
2005年第3期189-196,共8页
Journal of Shenzhen University(Science and Engineering)
基金
国家自然科学基金资助项目(60175026)
关键词
机械手
滑动模态观测器
滑动模态控制器
虚状态
扰动估计
robot manipulator
sliding mode observer
sliding mode control
fictitious state
perturbation estimation
