基于高增益观测器的机械臂自适应非奇异终端滑模控制

2019 Chinese Control And Decision Conference (CCDC) Pub Date : 2019-06-03 DOI:10.1109/CCDC.2019.8832608

Haitao Liu, Jian Sun, Jianhao Nie, Guan‐Wei Chen, Lanping Zou

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引用次数: 1

摘要

针对存在不确定性和干扰的机械臂，提出了一种自适应非奇异终端滑模控制器。采用自适应控制，增强了系统对不确定性和干扰的鲁棒性。此外，采用高增益观测器对速度信息进行估计，使控制器在实际应用中更加适用。定理证明和仿真验证了所提控制器的有效性。

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Adaptive non-singular terminal sliding mode control with high-gain observers for robotic manipulators

In this paper, an adaptive non-singular terminal sliding mode controller is proposed for robotic manipulators in the presence of uncertainties and disturbances. The adaptive control is used to obtain robustness to system uncertainties and disturbances. In addition, the high-gain observer is employed to estimate the speed information, which make the controller more applicable in practice. Theorem proof and simulations demonstrate the effectiveness of the proposed controller.

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来源期刊

2019 Chinese Control And Decision Conference (CCDC)

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