| 季晓明,文怀海.基于非线性终端滑模的码垛机械臂轨迹跟踪控制[J].电子测量与仪器学报,2021,35(9):105-111 |
| 基于非线性终端滑模的码垛机械臂轨迹跟踪控制 |
| Trajectory tracking control for a palletizing manipulator basedon nonlinear terminal sliding mode |
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| DOI： |
| 中文关键词: 码垛机械臂 数据驱动 终端滑模 萤火虫算法 轨迹跟踪控制 |
| 英文关键词:palletizing manipulator data-driven control terminal sliding mode glowworm swarm optimization algorithm trajectory
tracking control |
| 基金项目: |
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| 摘要点击次数: 282 |
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| 中文摘要: |
| 针对码垛机械臂的轨迹跟踪控制,提出了一种基于数据驱动的非线性终端滑模控制方法。 首先,利用牛顿-欧拉法推导
出码垛机械臂的动力学模型,进而将模型等效成离散形式;接着,设计非线性终端滑模面来加快关节角的收敛速度,引入等效趋
近律来抑制系统的抖振效应;同时,在萤火虫寻优算法的帮助下解决控制器参数整定问题,以便获得最优的控制性能;最后,通
过仿真和试验对所提控制方法的有效性进行了验证。 结果表明,该控制方法比积分滑模控制控制具有更高的跟踪精度,能保证
码垛机械臂较好地跟踪上参考轨迹,具有一定的工程应用价值。 |
| 英文摘要: |
| Aiming at the trajectory tracking control of the palletizing manipulator, a nonlinear sliding mode control method is proposed.
Firstly, the Newton-Euler method is used to derive the dynamic model of the palletizing manipulator, which is then equivalent to a
discrete form. Then, the nonlinear terminal sliding mode surface is designed to accelerate the convergence speed of the joint angles, and
the equivalent reaching law is introduced to suppress the chattering effect of the system. At the same time, the problem of parameter
tuning of the controller is solved with the help of the glowworm swarm optimization algorithm which is used to obtain the optimal control
performance. Finally, the effectiveness of the proposed control method in this paper is verified by simulation and experiment. The results
show that the control method in this paper has higher tracking accuracy than integral sliding mode control, and can ensure that the
palletizing manipulator can better track the upper reference trajectory, which has certain engineering application value. |
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