对于具有规定的性能并行机器人移动平台的固定时间全球滑动模式控制
Aojie Wang1, Guoqin Gao1, Xue Li1
1School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China.
Sensors (Basel, Switzerland)
|March 17, 2025
概括
本研究介绍了一种新的固定时间全球滑动模式控制,用于具有不同质量中心的并行机器人移动平台. 该方法增强了稳定性,并确保了尽管存在不确定性,快速,超越无的趋同.
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
- 机械电子学是什么意思 机械电子学
背景情况:
- 具有不同质量中心的并行机器人移动平台面临来自模型不确定性和外部干扰的挑战.
- 现有的控制方法可能会受到长时间的融合时间或显著的超速冲击的影响.
- 强大而高效的控制对于精确的移动平台运行至关重要.
研究的目的:
- 开发一个固定时间的全球滑动模式控制 (GSMC) 战略,用于平行移动机器人平台,具有不同的质量中心.
- 提高系统的全球稳定性和融合性能.
- 为了最大限度地减少系统超速,并确保规定的性能.
主要方法:
- 为平行机器人移动平台建立动态和动态模型,其质量中心可变.
- 一个反向的外环控制器的设计,以产生参考速度.
- 实现一个固定时间的全球滑动模式控制算法与内循环的规定的性能函数.
- 使用利亚普诺夫函数进行理论稳定性分析.
主要成果:
- 拟议的固定时间GSMC消除了滑动模式到达阶段,确保在固定时间内快速融合.
- 规定的性能约束有效地减少了系统超速.
- 利亚普诺夫稳定性分析证实了理论上的稳定性和收性质.
- 模拟实验验证了拟议的控制方法的有效性和优越性.
结论:
- 开发的固定时间全球滑动模式控制与规定的性能为平行机器人移动平台提供了强大的和高效的解决方案,具有不同的质量中心.
- 与传统方法相比,这种控制策略显著提高了收速度,并减少了超标.
- 该方法为提高不确定动态系统的性能和稳定性提供了可靠的框架.
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