改进非线性干扰观测器的机械臂自适应反演滑模控制

doi:10.11772/j.issn.1001-9081.2018030525

计算机应用 ›› 2018, Vol. 38 ›› Issue (10): 2827-2832.DOI: 10.11772/j.issn.1001-9081.2018030525

改进非线性干扰观测器的机械臂自适应反演滑模控制

邹思凡¹, 吴国庆^1,2, 茅靖峰¹, 朱维南¹, 王玉荣¹, 王健³

1. 南通大学电气工程学院, 江苏南通 226019;
2. 江苏省风能应用技术工程中心, 江苏南通 226019;
3. 南通理工学院机械工程学院, 江苏南通 226019

收稿日期:2018-03-14 修回日期:2018-05-16 出版日期:2018-10-10 发布日期:2018-10-13
通讯作者: 吴国庆
作者简介:邹思凡(1994-),女,江苏淮安人,硕士研究生,主要研究方向:机器人控制理论、激光加工控制;吴国庆(1957-),男,江苏南通人,教授,博士,主要研究方向:磁悬浮控制、风力发电;茅靖峰(1976-),男,浙江宁波人,教授,博士,主要研究方向:风力发电、电机及其控制;朱维南(1962-),男,江苏南通人,高级工程师,主要研究方向:机械设计;王玉荣(1993-),男,江苏盐城人,硕士研究生,主要研究方向:风力发电、嵌入式系统;王健(1971-),男,江苏如皋人,副教授,主要研究方向:机械设计。
基金资助:
国家自然科学基金资助项目（61273151）；江苏省自然科学基金资助项目（BK20141238）；江苏省重点研发计划项目（BE2015095）；江苏省重点建设学科资助项目（苏教研〔2016〕9号）；江苏高校品牌专业建设工程资助项目（PPZY2015C251）；江苏省高校自然科学研究面上项目（16KJD610002）。

Adaptive backstepping sliding mode control for robotic manipulator with the improved nonlinear disturbance observer

ZOU Sifan¹, WU Guoqing^1,2, MAO Jingfeng¹, ZHU Weinan¹, WANG Yurong¹, WANG Jian³

1. School of Electrical Engineering, Nantong University, Nantong Jiangsu 226019, China;
2. Jiangsu Engineering Research Center for Wind Energy Application, Nantong Jiangsu 226019, China;
3. School of Mechanical Engineering, Nantong Institute of Technology, Nantong Jiangsu 226019, China

Received:2018-03-14 Revised:2018-05-16 Online:2018-10-10 Published:2018-10-13
Supported by:
This work is partially supported by the National Natural Science Foundation of China (61273151), the Jiangsu Provincial Natural Science Foundation (BK20141238), the Key Research and Development Project of Jiangsu Province (BE2015095), the Priortity Discipline Construction Program of Jiangsu Province (2016-9), Jiangsu Province Key Construction Discipline Project (Su Teaching Research[2016] No. 9), the Brand Profession Construction Project for Colleges and Universities in Jiangsu Province (PPZY2015C251), the Natural Science Research Project for Universities in Jiangsu Provincial (16KJD610002).

摘要/Abstract

摘要： 针对传统滑模和传统干扰观测器在机械臂关节位置跟踪中存在的控制输入抖振、需要测量加速度项、应用模型受限等问题，提出一种改进非线性干扰观测器的机械臂自适应反演滑模控制算法。首先，设计改进的非线性干扰观测器进行在线测试，在滑模控制律中加入干扰估计值对可观测的干扰进行补偿；然后选择合适的设计参数，使观测误差指数型收敛；其次，引入反演自适应控制律，对不可观测的干扰进行估计，进一步改善控制系统的跟踪性能；最后，利用李雅普诺夫函数验证了闭环系统的渐近稳定性，并将其应用于机械臂关节位置跟踪。实验结果表明，与传统滑模算法比较，所提控制算法不但加快了系统的响应速度，而且能有效地削弱系统抖振、避免测量加速度项并扩大应用模型使用范围。

关键词: 机械臂, 滑模控制, 非线性干扰观测器, 反演控制

Abstract: In order to solve the problems of control input chattering of traditional sliding mode, requiring acceleration term, and limited application model of traditional disturbance observes in manipulator joint position tracking, a self-adaptive inverse sliding mode control algorithm for manipulators with improved nonlinear disturbance observer was proposed. Firstly, an improved nonlinear disturbance observer to perform on-line testing was designed. In the sliding mode control law, interference estimates were added to compensate for observable disturbance, and then appropriate design parameters were selected to make the observation error converge exponentially; the adaptive control law was performed to estimate the unobservable interference and further improved the tracking performance of the control system. Finally, the Lyapunov function was used to verify the asymptotic stability of the closed-loop system, then the system was applied to the joint position tracking of the manipulator. The experimental results show that compared with the traditional sliding mode algorithm, the improved control algorithm not only accelerates the response speed of the system, but also effectively suppresses the system chattering, avoids measuring acceleration items and expands the application scope of the application model.

Key words: robotic manipulator, sliding model control, nonlinear disturbance observer, backstepping control

中图分类号:

TP273

邹思凡, 吴国庆, 茅靖峰, 朱维南, 王玉荣, 王健. 改进非线性干扰观测器的机械臂自适应反演滑模控制[J]. 计算机应用, 2018, 38(10): 2827-2832.

ZOU Sifan, WU Guoqing, MAO Jingfeng, ZHU Weinan, WANG Yurong, WANG Jian. Adaptive backstepping sliding mode control for robotic manipulator with the improved nonlinear disturbance observer[J]. Journal of Computer Applications, 2018, 38(10): 2827-2832.

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改进非线性干扰观测器的机械臂自适应反演滑模控制

Adaptive backstepping sliding mode control for robotic manipulator with the improved nonlinear disturbance observer

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