Fast Terminal Sliding Mode Control of Parameters Uncertain Manipulator Under Disturbance Condition
In order to improve the tracking control accuracy and convergence speed of the uncertain robotic arm in the disturbance environment,a double nonlinear fast terminal sliding mode control method for the robotic arm based on uncertainty compensa-tion is proposed.A two-degree-of-freedom robotic arm modal model is constructed,and the time-delay estimation method is used to estimate and compensate for the uncertain parameters of the system and the environmental uncertainty disturbance;a du-al nonlinear fast terminal sliding mode surface function is designed so that the system can quickly converge to the equilibrium point in any state,which effectively improves the fast convergence capability and robustness of the system;the stability of the de-signed controller is proved based on Lyapunov theory.The simulation verifies that the convergence speed and tracking accuracy of this control method are significantly better than the time delay estimation+traditional fast terminal sliding mode composite con-trol;compared with the fast terminal sliding mode control,this control method can track the set trajectory without fluctuation and steady-state error.The above simulation results verify the superiority of the dual nonlinear fast terminal sliding mode method in the control of uncertain robotic arm.
万方数据
维普
