【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、参数不确定等问题,设计了一种基于观测器的自适应二阶滑模控制器。根据拉格朗日方程及能量守恒定律推出了双连杆柔性机械臂的动力学方程,设计了滑模观测器,进而基于误差状态方程,设计了自适应二阶滑模控制律,采用超扭曲算法来抑制抖振,并利用李雅普诺夫理论证明了闭环系统的稳定性。仿真结果表明,所提出的控制策略跟踪精度高,抖振更小,鲁棒性更好。更多还原

【Abstract】 In order to solve the problems of chattering,low accuracy and uncertain parameters in the trajectory tracking of two-link flexible manipulator,an observer-based adaptive second-order sliding mode controller was designed.The dynamic equation of the two-link flexible manipulator was given according to lagrange equation and energy conservation law,and a sliding mode observer was designed.Then based on the error state equation an adaptive second-order sliding mode control law was designed,in which the super-twisting algorithm was used to suppress chattering,and the stability of the closed-loopsystem was proved by Lyapunov theory.Simulation results showed that the proposed control strategy has the advantages of high tracking accuracy,less chattering and better robustness.更多还原