Iterative Learning-Sliding Mode Variable Structure Control For Manipulators

Manipulator system is a typical nonlinear and strong coupling system. And the nonlinear system has been one of the hotspot and difficulty in control field. Due to manipulator has nonlinear characteristic, so it is often as a controlled object to verify the effectiveness of the nonlinear control algorithm. The manipulator plays a very important role in modern industrial, and its application scope is becoming more and more widespread, so it is especially important to study the manipulator.Because dynamics model is the foundation of manipulator, so this paper firstly established manipulator dynamics model. Then this paper introduces the principle of iterative learning control algorithm and sliding mode variable structure control algorithm respectively, while apply the two above algorithm in manipulator system and obtain simulation results. Through above results we can analyze the advantages and disadvantages of the two algorithms and explain the causes. Ten we can find that the two algorithms have the characteristics of complementary advantages, so if putting them together and then produce a new more effective control algorithm. Therefore this paper together two algorithms and produce a new iteration sliding algorithm, then analyzes the principle and the calculation of control laws. Then the new algorithm was applied in manipulator control. While through the compare with above two algorithms conclude the advantages of the new algorithm. At last, the author analyzes the convergence of sliding mode variable structure control algorithm in time axis direction and proves the conditions of convergence along the iterative times direction.Iterative sliding algorithm not only has the advantage of high control accuracy of iterative learning algorithm, but also has the advantage of robustness of sliding mode variable structure algorithm. So its can serve as a kind of effective algorithm of nonlinear control system.