考虑误差补偿的柔性机械臂命令滤波滑模控制*

doi:10.16731/j.cnki.1671-3133.2024.11.009

现代制造工程 ›› 2024, Vol. 530 ›› Issue (11): 66-72.doi: 10.16731/j.cnki.1671-3133.2024.11.009

考虑误差补偿的柔性机械臂命令滤波滑模控制^*

陈凯生, 张鑫, 祝子钧

兰州交通大学自动化与电气工程学院,兰州 730300

收稿日期:2024-04-17 出版日期:2024-11-18 发布日期:2024-11-29
通讯作者: 张鑫,副教授,博士,从事智能控制与智能计算研究。E-mail:zhangx@mail.lzjtu.cn
作者简介:陈凯生,硕士研究生,研究方向为机械臂控制等。E-mail:2581407871@qq.com
基金资助:
^*国家自然科学基金项目(62341310);甘肃省自然科学基金项目(20JR5RA419);甘肃省高等学校创新基金项目(2022A-045)

Command-filtered backstepping sliding mode control of a flexible robotic arm considering error compensation

CHEN Kaisheng, ZHANG Xin, ZHU Zijun

School of Automation & Electrical Engineering, Lanzhou Jiaotong University,Lanzhou 730300,China

Received:2024-04-17 Online:2024-11-18 Published:2024-11-29

摘要/Abstract

摘要： 针对单关节柔性机械臂控制中存在参数摄动、外部干扰及滤波误差等导致轨迹跟踪精度性能变差的问题,提出一种考虑误差补偿的命令滤波滑模控制方法。首先,给出含不确定项的单关节柔性机械臂动力学方程,设计反步滑模控制;然后,引入二阶命令滤波器获得虚拟控制量的导数,避免传统反步控制引起的“计算爆炸”问题;最后,基于李雅普诺夫理论设计误差补偿机制用以消除命令滤波器所产生的滤波误差。仿真结果表明,当系统存在参数摄动和外部干扰时,所提出的误差补偿命令滤波滑模控制与未加误差补偿的命令滤波滑模控制和误差补偿命令滤波控制方法相比,其轨迹跟踪精度分别提升了19.8 %和74.0 %,滤波误差分别减少了44.4 %和31.4 %。

关键词: 单关节柔性机械臂, 命令滤波反步控制, 滑模控制, 滤波误差补偿

Abstract: In response to the issues of parameter perturbations,external disturbances,and filtering errors affecting trajectory tracking accuracy in single-joint flexible robotic arm control,a command-filtered sliding mode control method with error compensation was proposed. Firstly,the dynamic equation of the single-joint flexible robotic arm with uncertainties was presented and a backstepping sliding mode control was designed. Then,a second-order command filter was introduced to obtain the derivative of the virtual control signal,thereby avoiding the ″computational explosion″ issue associated with traditional backstepping control. Finally,an error compensation mechanism based on Lyapunov theory was used to eliminate filtering errors generated by the command filter. Simulation results demonstrate that when the system experiences parameter perturbations and external disturbances,the proposed error compensation command-filtered sliding mode control achieves trajectory tracking accuracy improvements of 19.8 % and 74 % compared to command-filtered sliding mode control without error compensation and error compensation command-filtered control methods,respectively.Filtering errors are reduced by 44.4 % and 31.4 %,respectively.

Key words: flexible articulated robotic arm, command-filtered control, sliding mode control, filter error compensation

中图分类号:

TH16

陈凯生, 张鑫, 祝子钧. 考虑误差补偿的柔性机械臂命令滤波滑模控制^*[J]. 现代制造工程, 2024, 530(11): 66-72.

CHEN Kaisheng, ZHANG Xin, ZHU Zijun. Command-filtered backstepping sliding mode control of a flexible robotic arm considering error compensation[J]. Modern Manufacturing Engineering, 2024, 530(11): 66-72.

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考虑误差补偿的柔性机械臂命令滤波滑模控制^*

Command-filtered backstepping sliding mode control of a flexible robotic arm considering error compensation

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