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Real-time implementation of regressor-based sliding mode control algorithm for robotic manipulators

机译：基于回归的滑模控制算法的实时实现

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摘要

A regressor-based variable-structure control scheme has been developed for the trajectory control of robot manipulators in the presence of disturbances, parameter variations, and unmodeled dynamics. The method is based on the regressor structure given by J.J.E. Slotine and W. Li, without parameter adaptation. This avoids the requirement of persistency of excitation, and the convergence of the overall transient exponential. The method is robust against a class of state-dependent uncertainties, which may result, for example, from unmodeled dynamics. The problem of chattering is solved by the smoothing control law. It is with respect to a set around the origin, which can be made arbitrarily small. To illustrate the feasibility of this controller, it was implemented using a Motorola M68000 microprocessor on a two-link revolute joint manipulator subjected to a variable payload. Experimental results confirm the validity of accurate tracking capability and the robust performance.
机译：已经开发了基于回归变量的可变结构控制方案，用于在存在干扰，参数变化和未建模动力学的情况下对机器人操纵器进行轨迹控制。该方法基于J.J.E.给出的回归结构。 Slotine和W. Li，无参数自适应。这避免了激励的持久性和整个瞬态指数收敛的需求。该方法对于一类状态相关的不确定性是鲁棒的，这种不确定性可能是由例如未建模的动力学导致的。抖动的问题通过平滑控制律得以解决。相对于原点周围的集合，该集合可以任意减小。为了说明此控制器的可行性，它是在可变负载的情况下，使用Motorola M68000微处理器在两连杆式旋转关节操纵器上实现的。实验结果证实了精确跟踪能力和鲁棒性能的有效性。

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