| 刚体机构的鲁棒变结构控制 |
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| 引用本文： | 朱文宏,陈辉堂.刚体机构的鲁棒变结构控制[J].西安交通大学学报,1991,25(3):1-8. |
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| 作者姓名： | 朱文宏 陈辉堂 |
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| 作者单位： | 西安交通大学信息与控制工程系
(朱文宏,陈辉堂),西安交通大学信息与控制工程系(巨永锋) |
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| 摘 要： | 本文针对仅装备位置传感器的刚体机构,提出了一种新的鲁棒变结构控制算法。该算法克服了传统的变结构算法中由于过大的开关项系数而激发系统的未建模模态所引起的系统振动现象。重新定义的状态变量实现了观测器和控制器的解耦。在控制器中,对滑动误差的收敛速度进行控制的新概念被首次提出。在我校自行研制的“JTR-1”教学机器人上的实验,证明了这种算法良好的性能。
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| 关 键 词： | 刚体机构 变结构控制 鲁棒 机器人 |
ROBUST VARIABLE STRUCTURE CONTROL FOR RIGID MECHANISM |
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| Zhu Wenhong,Chen Huitang,Jiu Yongfong.ROBUST VARIABLE STRUCTURE CONTROL FOR RIGID MECHANISM[J].Journal of Xi'an Jiaotong University,1991,25(3):1-8. |
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| Authors: | Zhu Wenhong Chen Huitang Jiu Yongfong |
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| Institution: | Zhu Wenhong;Chen Huitang;Jiu Yongfong Department of Infomation the Control |
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| Abstract: | This papet propses a novel robust variable structure control algorithm for the rigid mechanism
with only position measurement. This algorithm overcomes the drawback of over-high switching coef-
ficients existing in a traditional case which could excite system's unmodelling modes and could cause
system chattering. Redefined nonlinear sliding surface realizes the decoupling of observers and con-
trollers. In the controller, a mew idea of controlling sliding error convergence rate is first proposde.
The experimental results obtained on manipulator "JTR-1" illustrate the features of this algorithm. |
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| Keywords: | robot controls non-linear filters non-linear control systems |
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