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有限时间自适应超扭曲滑动模式控制自主机器人操纵器的执行器故障的自主机器人操纵器

Jiabin Hu¹, Xue Zhang², Dan Zhang¹

¹College of Information Engineering, Zhejiang University of Technology, Hangzhou, 310023, China.

ISA transactions

|November 4, 2023

概括

本研究介绍了机器人操纵器的自适应性超扭转全球积分终端滑动模式控制算法. 这种新的方法提高了稳定性,并确保了轨迹跟踪的有限时间融合,即使存在不确定性和故障.

科学领域:

机器人技术机器人技术机器人技术
控制系统工程控制系统工程
应用数学应用数学应用数学

背景情况:

自主机器人操纵器面临诸如不确定的参数,未知的干扰和执行器故障等挑战.
在这些条件下,现有的控制方法可能难以实现有限时间的融合和稳定性.

研究的目的:

开发一种新的自适应性超扭曲全球积分终端滑动模式控制算法.
为了提高自主机器人操纵器的轨迹跟踪性能.
解决系统不确定性,干扰和执行器故障.

主要方法:

设计了一种全新的全局积分终端滑动模式表面,用于有限时间误差融合和增强的稳定性.
开发一种新的适应方法来管理非线性不确定性.
应用自适应式超扭曲算法以减轻声并确保连续控制扭矩.
使用Lyapunov方法进行稳定性分析.

主要成果:

拟议的算法确保追踪错误在有限的时间内汇聚到零.
自主机器人操纵系统的全球稳定性得到了显著提高.
适应性超扭曲算法有效地抑制了声现象,提供了连续的控制扭矩.
模拟研究证实了开发的控制器的优越控制性能和有效性.

结论:

适应性超扭转全球积分终端滑动模式控制方案为自主机器人操纵器提供了卓越的性能.
该方法有效地处理不确定性,干扰和执行器故障,确保稳健而精确的轨迹跟踪.
有限时间融合和聊抑制能力使这成为机器人控制的宝贵进步.

关键词:

执行器故障是指执行器的故障.适应性控制是适应性的控制.自主机器人操纵器自主机器人操纵器有限时间有限的时间.全球集成终端滑动模式控制器轨迹跟踪跟踪轨道跟踪

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