【摘要】 针对串联式工业机械臂在实际控制中内部存在建模误差，外部存在多种干扰的轨迹追踪问题，提出了一种结合干扰观测器和滑模控制的复合控制方法。采用拉格朗日方法建立了机械臂的动力学模型以分析其动力学特性；设计了一种有限时间干扰观测器来补偿机械臂受到外界干扰的可观测部分，主动减小干扰对于控制系统的影响；对于不可观测部分，提出了一种改进的分数阶非奇异终端滑模控制策略，并设计了趋近律以保证逼近阶段的控制性能；采用Lyapunov定理分析控制系统的闭环稳定性。通过MATLAB/Simulink控制仿真验证，结果表明该控制方法能够克服扰动以及建模误差带来的不确定性，有效提高机械臂轨迹跟踪的精度，并实现对于期望运动轨迹的迅速追踪。更多还原

【Abstract】 In order to solve the trajectory tracking problem of serial industrial manipulator with internal modeling errors and external disturbances, a composite control method combining disturbance observer and sliding mode control was proposed.The Lagrangian method is used to establish the dynamic model of the manipulator to analyze its dynamic characteristics.A finite-time interference observer is designed to compensate the observable part of the manipulator which is affected by external interference, and actively reduce the influence of the interference on the control system.For the unobservable part, an improved fractional non-singular terminal sliding mode control strategy is proposed, and a reaching law is designed to ensure the control performance in the approximation phase.Lyapunov′s theorem is used to analyze the closed-loop stability of the control system.The simulation results of MATLAB/Simulink control show that the proposed control method can overcome the uncertainties caused by disturbances and modeling errors, effectively improve the trajectory tracking accuracy of the manipulator, and realize the rapid tracking of the desired trajectory.更多还原