【摘要】 针对双连杆柔性机械臂轨迹跟踪过程中抖振大、精确度低等问题，设计了一种非奇异快速终端滑模控制算法。首先根据拉格朗日方程及能量守恒定律推导出双连杆柔性机械臂的动力学方程，进而设计了基于跟踪误差状态方程的非奇异快速终端滑模控制器，其中采用双曲正切函数代替符号函数来削弱抖振的影响，并利用李雅普诺夫理论证明了该闭环系统的稳定性。仿真结果表明，提出的控制策略具有跟踪精度高，抖振更小的优点。更多还原

【Abstract】 A nonsingular fast terminal sliding mode control algorithm was designed to solve the problems of large chattering and low accuracy in the trajectory tracking of two-link flexible manipulator.Firstly, the dynamic equation of the two-link flexible manipulator was given according to Lagrange equation and energy conservation law.Then, a nonsingular fast terminal sliding mode controller based on the tracking error state equation was designed, in which the hyperbolic tangent function was used instead of the sign function to weaken the influence of chattering.The stability of the closed-loop system was demonstrated using Lyapunov theory.The simulation results showed that the proposed control strategy has the advantages of high tracking accuracy and less chattering.更多还原