【摘要】 针对机械臂轨迹控制过程中受建模误差、外部时变干扰等因素的影响，导致控制精度下降的问题，提出了一种自适应分数阶滑模控制方法。首先设计了一种新型的分段趋近律，并基于所提出的分数阶滑模面和自适应技术，设计了复合控制器，以保证有效应对系统扰动，快速趋近滑模面并削弱机械臂的抖振；其次证明了系统的闭环稳定性和有限时间收敛性；最后通过仿真实验验证了所提方法在机械臂轨迹跟踪中的快速性和精准性。更多还原

【Abstract】 The robotic arm is affected by modelling errors, external time-varying disturbances and other factors that lead to the degradation of control performance in the actual control process. So it proposes an adaptive fractional-order sliding mode control method. Firstly, a novel segmental convergence law is designed, and based on the proposed fractional-order sliding mode surface and the adaptive technique, a composite controller of the system is designed to ensure effective response to system disturbances, fast convergence to the sliding mode surface and weakening of jitter phenomenon. Secondly, the closed-loop stability and finite-time convergence of the system are demonstrated. Finally, the rapidity and accuracy of the proposed method in robotic arm trajectory tracking are verified by control simulation experiments.更多还原