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Fuzzy adaptive PID fast terminal sliding mode controller for a redundant manipulator

机译：用于冗余机械手的模糊自适应PID快速终端滑动模式控制器

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摘要

In this study, a fuzzy adaptive PID fast terminal sliding mode controller has been proposed for a redundant manipulator system with a variable load. The method realizes an accurate tracking of the trajectory at the end effector of the manipulator and improves its robustness toward model uncertainty and external disturbance when controlling the position of the redundant manipulator. By using the advantages of the PID and the fast terminal sliding mode control, the convergence speed of the control algorithm has been improved, and its steady-state error has been reduced. Also, integration of the continuous approximation law has been used to eliminate the real-time chattering during the control process without affecting the robustness of the system. A fuzzy adaptive control law has been designed in order to estimate the error of the dynamic system and the upper bound of the disturbance on the external load. Further, the variable switching gain makes the control system achieve better performance in different external environments. Finally, the stability of the controller has been proved by the Lyapunov theory, and the effectiveness and superiority of the control method has been verified by using the simulation and experimental platform for a seven-degrees-of-freedom redundant robot manipulator.
机译：在该研究中，已经提出了一种模糊自适应PID快速终端滑动模式控制器，用于具有可变负载的冗余机械手系统。该方法在控制冗余机械手的位置时，实现了操纵器的末端执行器处的轨迹的准确跟踪，并提高了模型不确定度和外部干扰的鲁棒性。通过使用PID和快速端子滑动模式控制的优点，已经提高了控制算法的收敛速度，并且其稳态误差已经减少。此外，连续近似法的整合已被用于消除控制过程中的实时抖动而不影响系统的稳健性。设计了模糊的自适应控制法，以估计动态系统的误差和外部负载干扰的上限。此外，可变切换增益使得控制系统在不同的外部环境中实现更好的性能。最后，利用Lyapunov理论证明了控制器的稳定性，并且通过使用七度自由度冗余机器人操纵器的模拟和实验平台来验证控制方法的有效性和优越性。

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  • 来源
    《Mechanical systems and signal processing》 |2021年第10期|107577.1-107577.16|共16页
  • 作者

    Guoliang Zhong; Changming Wang; Weiqiang Dou;

  • 作者单位

    State Key Laboratory of High-Performance Complex Manufacturing and also with the School of Mechanical and Electrical Engineering Central South University Changsha 410083. China;

    State Key Laboratory of High-Performance Complex Manufacturing and also with the School of Mechanical and Electrical Engineering Central South University Changsha 410083. China;

    State Key Laboratory of High-Performance Complex Manufacturing and also with the School of Mechanical and Electrical Engineering Central South University Changsha 410083. China;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Redundant manipulator; Modeling; Slide mode control; Trajectory tracking Robustness;

    机译：冗余机械手;造型;滑动模式控制;轨迹跟踪鲁棒性;

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