摘要
采用饱和型标量函数构成非线性滑模建立直流伺服机器人控制系统的自适应变结构数学模型。根据动力学方程推导出自适应变结构控制律,并通过Lyapunov函数分析,证明了该机器人控制系统的稳定性。用Runre-Kuta法对两关节的控制律进行仿真,其结果表明该机器人控制系统具有较强的抗干扰能力,能稳定地跟踪期望轨迹。
Mathematical model of adaptive variable structure of control system for DC servo robot was established with nonlinear sliding mode formed with saturation type scalar functions. Control law of adaptive variable structure was deduced according to kinetic equation, and the stability of control system for DC servo robot was proved by Lyapunov function. Control law of two-joint robot was simulated with Runge-Kuta, the result shows that control system of the robot has better ability of anti-jamming, and can stably track expected track.
出处
《兵工自动化》
2004年第3期51-53,共3页
Ordnance Industry Automation
关键词
非线性滑模
自适应变结构
控制律
Nonlinear sliding mode
Adaptive variable structure
Control law
