| 引用本文: | 吴玉香 ,胡跃明 .二阶动态滑模控制在移动机械臂输出跟踪中的应用[J].控制理论与应用,2006,23(3):411~415.[点击复制] |
| WU Yu-xiang,HU Yue-ming.Second order dynamical sliding mode control and its application to output tracking of mobile manipulators[J].Control Theory and Technology,2006,23(3):411~415.[点击复制] |
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| 二阶动态滑模控制在移动机械臂输出跟踪中的应用 |
| Second order dynamical sliding mode control and its application to output tracking of mobile manipulators |
| 摘要点击 1151 全文点击 1201 投稿时间：2005-01-27 修订日期：2005-07-21 |
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| DOI编号 10.7641/j.issn.1000-8152.2006.3.015 |
| 2006,23(3):411-415 |
| 中文关键词 移动机械臂 二阶动态滑模控制 跟踪控制 电机动态 |
| 英文关键词 mobile manipulators second order dynamical sliding mode control tracking control motor dynamics |
| 基金项目 国家自然科学基金资助项目(68374016) |
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| 中文摘要 |
| 针对移动机械臂的输出跟踪问题,结合高阶滑模控制和动态滑模控制的设计思想为其设计了一种二阶动态滑模控制器.首先给出了包括驱动电机动态特性的移动机械臂的简化动态模型,然后通过微分同胚和输入变换将其分解为四个低阶子系统,并给出了其输出跟踪的二阶动态滑模控制器的设计方法.仿真结果表明,所设计的二阶动态滑模控制器不仅能很好地跟踪给定轨迹,而且能有效地削弱滑模控制系统的抖振. |
| 英文摘要 |
| Combining high-order sliding mode control with dynamical sliding mode control,a second order dynamical sliding mode controller is proposed for output tracking problem of mobile manipulators.Firstly,the reduced dynamic model including motor dynamics is developed for mobile manipulators.The system is then decomposed into four lower-dimensional subsystems by applying diffeomorphism and nonlinear input transformation to the reduced model.The design of the second order dynamical sliding mode controller is then addressed for the output tracking of mobile manipulators.Finally,the results of numerical simulation verify that the second order dynamical sliding mode controller can not only track the given trajectory but also considerably reduce the chattering of sliding mode control systems. |