| With the rapid developing of mechatronics, autonetics and so on, the capability of robot is becoming more and more perfect, and playing a more and more import role in many domain. The tracking ability of a robot controls over the whole system's performance. So, the research of robot tracking possesses high value. Robot system is of high nonlinear, parameter uncertain, and so on. In and out of the robot system, there exists many uncertain disturbance. Variable Structure Control (VSC) has the characteristics of acting rapid self-adapting to parameter uncertain and disturbance.Based on the researches of scholar on robot and VSC with SM, Application of VSC, the robot control system designing is the main work in this paper. However, the chattering with high frequency in traditional VSC sliding model control systems is a barrier for the application to the practice engineering problems, and the chatter will create much harm to system. To fully make use of the good characters such as robustness of sliding mode control and decrease the chatter phenomenon in robot control system design, guarantee the stability of whole dynamic system, the robot mode, dynamic characters of robot manipulator and theories of control system designing are studied firstly, then another control theory such as fuzzy control, neural control are studied. Different methods for the robot controlling are designed and the simulations of robot mode control gives evidence of the effectiveness.Firstly, I did research on VSC with SM, then a VSC with SM controller with rapid audience approach is proposed. Through the simulation of a two junction robot, the validity is verified. For decrease the chattering of SM controller, neural network and fuzzy control will be combined into the SM controller. In chapter 5, the global sliding mode controller made the states maintain staying on the sliding model surface from the initial time. The robustness of system to uncertain parameter and disturbance is raised. |
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