机器人机械手的滑模pid控制器设计

2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI:10.1109/CIRA.2005.1554346

T. Kuo, Y. J. Huang

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引用次数: 16

摘要

提出了一种鲁棒滑模pid控制器，用于控制具有参数变化和外部干扰的机械臂。验证了具有PID滑动功能的滑模控制器在机器人机械臂跟踪控制中的实用性。该方法考虑了未知但有界的参数不确定性和外部干扰。用李亚普诺夫理论证明了其稳定性。通过仿真对闭环系统的性能进行了可视化分析。采用边界层技术处理输入抖振现象。

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A sliding mode PID-controller design for robot manipulators

A robust sliding mode PID-controller is proposed to control a robot manipulator with parameter variations and external disturbances. The work corroborates the utility of a certain sliding mode controller with PID sliding function for tracking control of a robot manipulator. The proposed method is used to take into account the unknown but bounded parameter uncertainties and external disturbances. The stability is demonstrated by Lyapunov theory. The performance of the closed-loop system is visualized through simulation. The input chattering phenomenon is handled by using boundary layer technique.

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来源期刊

2005 International Symposium on Computational Intelligence in Robotics and Automation

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