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吉林化工学院学报, 2023, 40(9): 65-69     https://doi.org/10.16039/j.cnki.cn22-1249.2023.09.012
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双连杆柔性臂非奇异快速终端滑模控制
陈森林1,韩光信*
吉林化工学院 信息与控制工程学院,吉林 吉林 132022
Research on Dual-Link Flexible Arm System Based on Nonsingular Fast Terminal Sliding Mode Control
CHEN Senlin**,HAN Guangxin*
School of Information and Control Engineering, Jilin Institute of Chemical Technology, Jilin City 132022, China
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摘要 

针对双连杆柔性机械臂轨迹跟踪过程中抖振大、精确度低等问题,设计了一种非奇异快速终端滑模控制算法。首先根据拉格朗日方程及能量守恒定律推导出双连杆柔性机械臂的动力学方程,进而设计了基于跟踪误差状态方程的非奇异快速终端滑模控制器,其中采用双曲正切函数代替符号函数来削弱抖振的影响,并利用李雅普诺夫理论证明了该闭环系统的稳定性。仿真结果表明,提出的控制策略具有跟踪精度高,抖振更小的优点。

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陈森林
韩光信
关键词:  双连杆柔性臂  非奇异快速终端滑模控制  双曲正切函数     
Abstract: 

In this paper, a nonsingular fast terminal sliding mode control algorithm is designed to solve the problems of large chattering and low accuracy in the trajectory tracking of two-link flexible manipulator. Firstly, the dynamic equation of the two-link flexible manipulator is given according to Lagrange equation and energy conservation law. Then, a nonsingular fast terminal sliding mode controller based on the tracking error state equation is designed, in which the hyperbolic tangent function is used instead of the sign function to weaken the influence of chattering. The stability of the closed-loop system is demonstrated using Lyapunov theory. The simulation results show that the proposed control strategy has the advantages of high tracking accuracy and less chattering.

Key words:  two-link flexible manipulator    nonsingular fast terminal sliding mode    tanh function
               出版日期:  2023-09-25      发布日期:  2023-09-25      整期出版日期:  2023-09-25
TP273  
引用本文:    
陈森林, 韩光信. 双连杆柔性臂非奇异快速终端滑模控制 [J]. 吉林化工学院学报, 2023, 40(9): 65-69.
CHEN Senlin, HAN Guangxin. Research on Dual-Link Flexible Arm System Based on Nonsingular Fast Terminal Sliding Mode Control . Journal of Jilin Institute of Chemical Technology, 2023, 40(9): 65-69.
链接本文:  
https://xuebao.jlict.edu.cn/CN/10.16039/j.cnki.cn22-1249.2023.09.012  或          https://xuebao.jlict.edu.cn/CN/Y2023/V40/I9/65
[1] 陈森林, 韩光信, 王嘉伟.

双连杆柔性臂自适应二阶滑模控制 [J]. 吉林化工学院学报, 2024, 41(7): 39-46.

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