Adaptive Sliding Mode Trajectory Tracking Control of Robotic Arm Based on Iterative Learning
Aiming at the requirements of accuracy and robustness in repetitive motion control tasks for robotic arms,an adaptive sliding mode controller based on iterative learning algorithm was designed.The control input of the robotic arm system was modified sev-eral times iteratively,and iterative learning adaptive sliding mode control was introduced to solve the impact of uncertain disturbances during dynamic processes,and the convergence of the designed controller was analyzed.Finally,comparative simulation experiments were conducted on proportional-differential iterative learning control,iterative adaptive sliding mode control and the designed controller under two conditions.The results show that compared with the traditional proportional-differential iterative learning algorithm and iterative adaptive sliding mode algorithm,the designed controller has faster convergence speed,higher accuracy and smoother trajectory tracking curve.
万方数据
维普
