摘要
在分析常用的滑模变结构控制的趋近律的基础上,提出了一种新的双幂次趋近律,并应用于机器人的轨迹跟踪控制。仿真实验证明了该方法不仅能够保证趋近运动的快速性,而且极大地削弱了抖振,提高了机器人的抗外界干扰能力。通过与幂次趋近律相比较,该方法能使系统获得更好的动态品质。
A new two-power reaching law was proposed based on usual reaching laws of variable structure control and was applied for the tracking of robot. Simulation result shows that this new reaching law can make the system reach the sliding surface rapidly and decrease the chattering. The ability of resistance to disturbance of robot was improved. The system can get better dynamical quality with this new way compared with the usual power reaching law.
出处
《机床与液压》
北大核心
2009年第6期161-163,共3页
Machine Tool & Hydraulics
关键词
变结构控制
趋近律
机器人
抖振
Variable structure control
Reaching law
Robot
Chattering
