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首页> 外文期刊>Mathematical Problems in Engineering >Barrier Lyapunov Function-Based Sliding Mode Control for Guaranteed Tracking Performance of Robot Manipulator
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Barrier Lyapunov Function-Based Sliding Mode Control for Guaranteed Tracking Performance of Robot Manipulator

机译：基于屏障李雅普诺夫函数的滑模控制，可确保机械手的跟踪性能

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摘要

We propose a decentralized error-bounded sliding mode control mechanism that ensures the prescribed tracking performance of a robot manipulator. A tracking error-transformed sliding surface was constructed and the barrier Lyapunov function (BLF) was used to ensure the transient and steady-state time performance of the positioning function of a robot manipulator as well as satisfy the ordinary sliding mode control properties. Unknown nonlinear functions and approximation errors are estimated by the RBF network and adaptive compensator. The effectiveness of the proposed control scheme was determined by comparing the results of an experiment evaluation with those of the conventional sliding mode control (SMC) and finite-time terminal sliding mode control (FTSMC) methods.
机译：我们提出了一种分散式误差边界滑模控制机制，该机制可确保机器人操纵器的指定跟踪性能。构造了跟踪误差转换后的滑动表面，并使用屏障Lyapunov函数（BLF）来确保机器人操纵器的定位函数的瞬态和稳态时间性能，并满足普通的滑模控制特性。未知的非线性函数和近似误差由RBF网络和自适应补偿器估算。通过将实验评估结果与常规滑模控制（SMC）和有限时间终端滑模控制（FTSMC）方法的实验结果进行比较，确定了所提出控制方案的有效性。

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  • 来源
    《Mathematical Problems in Engineering》 |2013年第14期|978241.1-978241.9|共9页
  • 作者

    Seong Ik Han; Jeong Yun Cheong; Jang Myung Lee;

  • 作者单位

    Department of Electronics Engineering, Pusan National University, Jangjeon-dong, Geumjeong-gu, Busan 609-735, Republic of Korea;

    Department of Electronics Engineering, Pusan National University, Jangjeon-dong, Geumjeong-gu, Busan 609-735, Republic of Korea;

    Department of Electronics Engineering, Pusan National University, Jangjeon-dong, Geumjeong-gu, Busan 609-735, Republic of Korea;

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