Adaptive Sliding Mode Control of Disturbance Observer for Multi-joint Manipulator
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摘要: 为了解决多关节机械臂在外部干扰和建模误差的轨迹跟踪问题，提出了多关节机械臂干扰观测器的机械臂自适应滑模控制方法。针对干扰信号，采用干扰观测器对可观测干扰进行观测，对于未观测到的干扰通过自适应律的设计进行估计补偿；针对机械臂控制系统中的抖振问题，采用新型趋近律来设计滑模控制律，以减小抖振影响；最后，利用李雅普诺夫函数验证了系统的稳定性。仿真结果表明，该方法不仅可以有效地削弱抖振问题，而且还可以克服外界干扰和建模误差带来的不确定性，同时保证了系统的鲁棒性。Abstract: In order to solve the trajectory tracking problem of multi-joint manipulator considering external disturbance and modelling error, an adaptive sliding mode control method of disturbance observer for multi-joint manipulator is proposed in this paper. For the disturbance signal, the disturbance observer is used to observe the observable disturbance, and the unknown disturbance is estimated and compensated by designing adaptive law. For the chattering problem in the manipulator control system, a new reaching law is used to design the sliding mode control law to reduce the chattering effect. Finally, the stability of the controlled system is verified by Lyapunov function. The simulation results show that this method can not only effectively weaken the chattering problem, but also overcome the uncertainty caused by external disturbance and modelling error, and ensure the robustness of the system.
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表 1 算法改进前后仿真数据对比
算法 关节 最大位置跟踪误差/rad 最大角速度跟踪误差/(rad·s-1) 最大关节控制输入/N 指数趋近律 1 0.029 15 0.208 5 0.935 1 2 0.014 86 0.134 1 0.846 9 新型趋近律 1 0.015 48 0.109 1 0.766 4 2 0.011 78 0.085 27 0.547 5 本文方法 1 0.003 06 0.015 2 0.718 4 2 0.002 183 0.011 95 0.513 0 
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