多关节机械臂的分数阶滑模变结构神经网络自适应控制

李正楠; 张锦; 殷玉枫; 武奎扬; 孙煊广

doi:10.13433/j.cnki.1003-8728.20200038

多关节机械臂的分数阶滑模变结构神经网络自适应控制

doi: 10.13433/j.cnki.1003-8728.20200038

李正楠^1,,
张锦^{1, 2},
殷玉枫^1, ,,
武奎扬¹,
孙煊广¹

1.
太原科技大学机械工程学院，太原　030024
2.
山西交通职业技术学院，太原　030031

基金项目: 国家自然科学基金项目（U1610118）、山西省交通运输厅科技计划项目（2019-1-9）及山西省研究生创新项目（2019SY473）

详细信息

作者简介:
李正楠（1994−），硕士研究生，研究方向为工业机器人，1339506100@qq.com

通讯作者:
殷玉枫，教授，硕士生导师，yinyufeng_ty@163.com

中图分类号: TH113.2
计量
- 文章访问数: 202
- HTML全文浏览量: 47
- PDF下载量: 24
- 被引次数: 0
出版历程
- 收稿日期: 2019-08-27
- 刊出日期: 2021-02-02

Fractional Sliding Mode Variable Structure Neural Network Adaptive Control of Multi-joint Manipulator

1.
College of Mechanical Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, China
2.
Shanxi Transportation Vocational College, Taiyuan 030031, China

摘要

摘要: 在分数阶滑模控制方法的基础，设计了新型的滑模函数趋近律，提升了多关节机械臂轨迹跟踪控制系统的鲁棒性和响应速度。机械臂在建模过程中存在多种建模误差，工作过程中存在外界干扰等不确定因素，因此采用神经网络对各种不确定项进行逼近，对径向基函数神经网络自适应控制中存在的误差，提出了神经网络误差的自适应补偿项，减小了径向基函数神经网络对不确定项的逼近误差。结果表明，该控制算法有效地提高了轨迹的跟踪速度和跟踪精度，并降低了系统中存在的抖颤。
- 多关节机械臂 /
- 滑模控制 /
- 神经网络 /
- 自适应
Abstract: Based on the fractional sliding mode control method, the new approximation law of sliding mode function is designed to improve the robustness and response speed of the trajectory tracking control system of a multi-joint manipulator. There are various modeling errors in the modeling process of the multi-jointmanipulator and uncertain factors such as external interference in the working process. The neural network is used to approximate various uncertainties, and the adaptive compensation term of the error in the radial basis function neural network adaptive control is proposed. The approximation error of the radial basis function neural network is reduced. The results show that the control algorithm effectively improves the tracking speed and tracking accuracy and reduces the chattering in thecontrolsystem.
- multi-joint manipulator /
- sliding mode control /
- neural networks /
- adaptive algorithm

HTML全文

图 1 $\tanh (s)$与${\rm{sign}}(s)$函数

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图 2 双关节机械臂角位移和角速度仿真曲线（无外部干扰）

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图 3 双关节机械臂角位移和角速度仿真曲线（有外部干扰）

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图 4 双关节机械臂的控制输入仿真曲线

下载: 全尺寸图片幻灯片

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