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| 基于自适应降阶滑模算法的机械臂力/位混合控制 |
| Force/Position Hybrid Control of Mechanical Arm Based on Adaptive Reduced Order Sliding Mode Algorithm |
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| DOI：10.16018/j.cnki.cn32-1650/n.202202006 |
| 中文关键词: 机械臂 自适应滑模 降阶方法 力/位混合控制 |
| 英文关键词: mechanical arm adaptive sliding mode order reduction method force /position hybrid control |
| 基金项目: |
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| 中文摘要: |
| 针对机械臂位置和力的控制问题，首先通过约束方程对机械臂进行降阶，并将位置控制和力控制整合在同一控制器中，提高了控制器的整体性和连续性；然后将自适应滑模算法与降阶方法相结合，提高了控制器的跟踪效果和响应速度；最后利用自适应算法，修正机械臂参数，并基于李雅普诺夫方法进行仿真验证。仿真结果表明: 所设计的控制方案不仅提高了系统的响应速度，同时还使期望轨迹有极好的跟踪效果，并将力误差稳定在极小的范围内。 |
| 英文摘要: |
| Aiming at the control problem of the position and force of the mechanical arm, firstly, the order of the mechanical arm is reduced through the constraint equation, and the position control and force control are integrated into the same controller to improve the integrity and continuity of the controller. Then the adaptive sliding mode algorithm is combined with the order reduction method to improve the tracking effect and response speed of the controller. Finally, the adaptive algorithm is used to modify the parameters of the mechanical arm, and the simulation verification is carried out based on the Lyapunov method. The simulation results show that the designed control scheme not only improves the response speed of the system, but also ensures excellent tracking effect on the desired trajectory and stabilizes the force error in a very small range. |
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