基于事件触发的机械臂轨迹跟踪控制
Trajectory Tracking Control of Manipulator Under Event-Triggered Scheme
孙芳艳 1艾自东1
作者信息
- 1. 青岛科技大学自动化与电子工程学院,青岛 266061
- 折叠
摘要
针对2-DOF机械臂系统存在网络通信约束和外部扰动时的轨迹跟踪问题,提出了一种自适应事件触发滑模控制策略.首先,以2-DOF机械臂的动力学模型为基础,利用归一化的反正切函数设计滑模控制器缓解切换到滑模面时的不连续性,减小控制系统存在的抖振问题;其次,为节省网络通信资源,基于此控制器提出一种自适应事件触发机制,可以根据状态误差动态调整触发阈值,降低触发频率;最后,利用Lyapunov函数分析法证明了控制器和事件触发机制作用下闭环系统的渐近收敛,且排除了芝诺现象.仿真结果表明所提方法可以削弱控制器抖振,在减少系统数据传输次数的同时实现对机械臂期望轨迹的跟踪.
Abstract
Aiming at the trajectory tracking problem of 2-DOF manipulator system when there are network communication constraints and external disturbances,an adaptive event-triggered sliding mode control strat-egy is proposed.Firstly,based on the dynamic model of the 2-DOF manipulator,the normalized arctangent function is used to design the sliding mode controller to alleviate the discontinuity when switching to the sliding mode surface,and reduce the chattering problem of the control system.Secondly,in order to save network communication resources,an adaptive event-triggered mechanism is proposed based on this control-ler,which can dynamically adjust the trigger threshold and reduce the trigger frequency according to the state error.At the same time,the Lyapunov function analysis method is used to prove that the system under the action of controller and event-triggered mechanism is asymptotically convergent,and Zeno phenomenon is excluded.Finally,the simulation results show that the proposed method can reduce the controller chattering and track the desired trajectory of the manipulator while reducing the number of system data transmission.
关键词
滑模控制/事件触发机制/2-DOF机械臂/轨迹跟踪Key words
sliding mode control/event-triggered mechanism/2-DOF manipulator/trajectory tracking引用本文复制引用
出版年
2024
NETL
NSTL
万方数据