机器人运动控制问题的一种改进自适应规定性能控制方法

Q3 Engineering

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2022-01-01 DOI:10.18178/ijmerr.11.12.948-953

A. Vo, Thanh Nguyen Truong, Hee-Jun Kang

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引用次数: 1

摘要

-提出了一种改进的自适应规定性能控制方法，解决了机械臂运动控制中跟踪精度、瞬态性能保证、收敛速度、抖振现象等问题。基于误差变换和规定性能函数(PPF)生成了改进的积分终端滑模(ITSM)曲面，避免了奇异性问题，并在控制性能的预定义边界内对跟踪误差的收敛速度和稳态进行了管理。在此基础上，采用自适应超扭到达控制(ASTwRC)增强了系统的鲁棒性，并有效地处理了系统的不确定性和有害抖振。利用李雅普诺夫理论保证了所设计控制器的稳定性。通过对一个三自由度机械臂的仿真，验证了所提控制方案的有效性。

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A Modified Adaptive Prescribed Performance Control Method for Motion Control Problems of Robotic Manipulato

—This paper proposes a modified adaptive prescribed performance control method to solve motion control problems of robotic manipulators such as tracking accuracy, transient performance guarantee, convergence rate, and chattering phenomenon. A modified integral terminal sliding mode (ITSM) surface based on the error transformation and prescribed performance function (PPF) is generated to avoid singularity problems and to manage the convergence rate and steady-state of tracking errors within a predefined boundary of the control performance. Furthermore, an adaptive super-twisting reaching control (ASTwRC) law is applied to strengthen the robust performance and to deal with system uncertainties and harmful chattering. The stability of the developed controller is guaranteed using the Lyapunov theory. Several simulations on a 3-DOF robotic manipulator are implemented to investigate the effectiveness of the control solution proposal.

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来源期刊

International Journal of Mechanical Engineering and Robotics Research Engineering-Mechanical Engineering

CiteScore

2.80

自引率

0.00%

发文量

期刊介绍： International Journal of Mechanical Engineering and Robotics Research. IJMERR is a scholarly peer-reviewed international scientific journal published bimonthly, focusing on theories, systems, methods, algorithms and applications in mechanical engineering and robotics. It provides a high profile, leading edge forum for academic researchers, industrial professionals, engineers, consultants, managers, educators and policy makers working in the field to contribute and disseminate innovative new work on Mechanical Engineering and Robotics Research.