Power Index Reaching Law Variable Structure Control for Palletizing Robot
The work aims to improve the control accuracy of palletizing robot and ensures the robustness of the system in the pres-ence of modeling errors and disturbances,designs a variable structure control algorithm that based on power index reaching law.The mathematical model of two-links manipulator has been established,the shortcomings of three kinds of reaching laws have been analyzed and compared,the concept of the power index reaching law has been broached.The method of solving differential equations has been proposed to study the robustness of the algorithm in three stages.The relationship between the ultimate value of bounded synthetic disturbance and the parameters of controller has been analyzed.The simulation results of the mechanical arm which without disturbance have been obtained by the new algorithm,the differential equations of the three stages of variable struc-ture control have been solved,and the simulation results of the mechanical arm with modeling error and disturbance have been ob-tained.The variable structure control which based on power index reaching law improves the control accuracy of the palletizing ro-bot.It has strong robustness and can still obtain high control accuracy in the case of various errors and disturbances.
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维普
