摘要
针对机器人跟踪控制问题,提出了基于Backstepping方法下的滑模变结构控制律,并利用低通滤波器(LPF)削弱了滑模控制中出现的抖振现象,该控制律能保证轨迹跟踪误差的快速收敛性及对外部扰动和参数不确定性的鲁棒性。仿真实例证实了理论分析结果的正确性。
This paper presents a sliding mode control law based on Backstepping method for tracking control of robot manipulator. In addition, low pass filter (LPF) is utilized to alleviate the chattering of sliding mode control. The control law can guarantee fast convergence of trajectory tracking error as well as robustness for external disturbances and parameter uncertainties. Simulation results prove the validity of theoretic analysis results.
出处
《系统仿真学报》
CAS
CSCD
2004年第4期837-838,841,共3页
Journal of System Simulation
基金
河北省教委科技攻关资助项目(A393)
