摘要
目前,仿人机器人代替人类在工业、矿山安全作业等方面起到了至关重要的作用,而机器人稳定性控制技术的进一步提高,则尽可能的避免了由于机器人操作失误所带来的危害。针对具有不确定性干扰的仿人机器人系统的轨迹跟踪控制问题,利用终端滑模控制方法,给出了设计的全局有限时间跟踪控制器。首先,利用拉格朗日法建立了5连杆仿人机器人的动力学模型,基于非奇异终端滑模控制技术并利用终端滑模设计思想,设计了轨迹跟踪滑模控制器。其次,由于所设计的控制器的非连续性,将会使得系统产生抖振现象。针对这个问题,利用修正的饱和函数来代替控制律中的符号函数,从而减少了系统的抖振问题;最后,仿真算例表明了该方法的有效性。
Currently,the humanoid robots instead of human beings performs a significant function in the fields of industry,mine safety etc.To decrease security risks caused by the robots running away owing to the misoperations,the stability control technologies for robots should be further improved.So this paper proposes a global finite-time tracking controller based on the nonsingular terminal sliding mode control,which could solve trajectory tracking control problems of humanoid robot system under uncertain disturbance.Firstly,the dynamic model of humanoid robot with 5connecting rods was built through Lagrangian method,and then the sliding model controller for trajectory tracking was designed based on nonsingular terminal sliding mode.Secondly,the sign function was replaced by the modified saturation function in the controller for eliminating the chattering problem caused by non-continuity.Finally,the simulation results verified the effectiveness of this method.
出处
《西安科技大学学报》
CAS
北大核心
2011年第5期621-625,630,共6页
Journal of Xi’an University of Science and Technology
关键词
仿人机器人
滑模控制
抖振
饱和函数
humanoid robots
sliding mode control
chattering
saturation function
作者简介
通讯作者：柴钰（1961-），男，山西人，副教授，硕士生导师，主要从事智能仪器仪表、计算机控制、机器人技术等研究工作．
