一类机器人滑模自适应鲁棒控制

针对存在系统参数不确定和有界外部扰动情况下的轨迹跟踪机器人系统控制问题,本文提出一种基于滑模变结构的鲁棒自适应控制方案。自适应控制律补偿系统参数不确定性,并对不确定性干扰上界进行实时估计;滑模控制消除了自适应律引起的参数误差,并且具有较强的干扰抑制能力。仿真表明此算法具有较高的跟踪精度和较强的鲁棒性。

Adaptive Robust Control Based on Sliding Mode for A Class of Robot Systems

An adaptive robust control strategy based on sliding mode is proposed for robotic position control with modeling uncertainties and exterior disturbances.The adaptive law is employed to update and estimate parameters on line;the sliding mode control can eliminate the drawback of adaptive control,and reject the external disturbances effectively.Simulation studies show the algorithm can guarantee the good tracking accuracy and robustness of control systems.