机器人自适应比例积分导数非奇异双端滑模控制

Hiep Dai Le, Tamara Nestorović
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引用次数: 0

摘要

本文旨在开发一种新的自适应比例积分导数(PID)非奇异双端滑模控制,用于在干扰和不确定情况下跟踪机器人的位置。与现有PID非奇异快速终端滑模控制器(PIDNFTSM)相比,该工作有效地避免了控制中的奇异性问题,同时显著提高了误差的收敛速度。提出了一种基于滑动变量的自适应逼近律来估计集总扰动一阶导数的界信息。利用李雅普诺夫方法证明了系统的总体稳定性。随后的仿真结果验证了所提控制器在减小跟踪误差、提高能效和避免奇点方面的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Adaptive Proportional Integral Derivative Nonsingular Dual Terminal Sliding Mode Control for Robotic Manipulators
This article aims to develop a new Adaptive Proportional Integral Derivative (PID) Nonsingular Dual Terminal Sliding Mode Control, designed for tracking the position of robot manipulators under disturbances and uncertainties. Compared with existing PID Nonsingular Fast Terminal Sliding Mode (PIDNFTSM) controllers, this work effectively avoids singularity problems in control while significantly enhancing the convergence speed of errors. An adaptive reaching law is proposed to estimate the bound information of the first derivative of lumped disturbance by regulating itself based on sliding variables. The overall system stability is proven by using the Lyapunov approach. Subsequent simulation results verify the effectiveness of the proposed controller regarding tracking error reduction, energy efficiency enhancements, and singularity avoidance.
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