Research And Application Of Sliding Mode Controller Based On Improved Saturation Function

With the rapid development of the industrial automation,robot technology is widely applied into various industries.For extending the application of robots in various industries,reducing the cost of automated production lines,and prolonging the service time of mechanical equipment,it is important to develop algorithms that can control robots effectively,accurately and stably.The dynamics model of DENSO 6-DOF manipulator is firstly deduced by Euler-Lagrange method,which is used in simulation and experiment in this thesis.Then for the sliding mode control algorithm,the chattering problem,control precision and anti-interference performance are discussed.A sliding mode control algorithm based on improved reaching law is proposed,which weakens the chattering while maintaining good control accuracy.The sliding mode accessibility of the algorithm is proved.The feasibility of the algorithm is verified by comparing the simulation of the improved reaching law and the exponential reaching law.Focusing on the control precision and anti-interference performance of the sliding mode control algorithm,a sliding mode control algorithm based on fuzzy adaptive adjustment is proposed,which can perform well in the presence of interference.The effectiveness of the algorithm is proved by a comparative simulation in the interference.Finally,the proposed algorithms are experimented on the physical control platform of DENSO six-degree-of-freedom manipulator,which can illustrate the feasibility and effectiveness.