摘要
针对受到不确定因素影响的空间机械臂关节,设计积分反演(backstepping)滑模控制器进行了精确轨迹控制研究,在反演镇定函数中综合积分项,进一步消除了轨迹跟踪稳态误差;针对难以确定滑模控制系统中不确定因素上界的问题,采用了GRBF(general radial basis function)网络在线估计不确定性上界值,并且推导了网络权值的自适应律,基于Lyapunov理论证明了系统的稳定性和对误差的收敛性。仿真结果表明,该方法提高了机械臂关节轨迹跟踪性能,提高了对于参数摄动和外界干扰等因素的鲁棒性。
In order to improve the precision of trajectory tracking of space manipulator joint with uncertainties, backstepping sliding-mode control method was designed and the integral items were synthesized to reduce steady error. To confirm the upper bound of uncertainties in sliding-mode control system, general radial basis function （GRBF） network was designed to estimate the value of upper bound, and its stability and error convergence were testified based on Lyapunov theorem. The simulation results demonstrate that this method improves the performances of trajectory tracking and enhances the robustness to parameters disturbance and external disturbances.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2009年第10期3014-3016,3021,共4页
Journal of System Simulation
基金
教育部重大项目(307005)
