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Disturbance Suppression Method Based On Sliding Mode Control For Robotic Manipulator Systems

Posted on:2021-03-27Degree:MasterType:Thesis
Country:ChinaCandidate:Z Y LiFull Text:PDF
GTID:2428330614465973Subject:Control engineering
Abstract/Summary:PDF Full Text Request
In today's high-speed technological era,robotic manipulator has been broadly applied in the manufacturing,agriculture,medical industry,etc.So the related field researches on control technology of robotic manipulator have become the focus of scholars.In order to achieve goals,the robotic manipulator usually needs to move accurately in a predetermined trajectory within a given time.Therefore,the trajectory tracking problem has been one of the most critical points in the research of the robotic manipulator control technology.External interference is the main factor affecting the trajectory tracking performance of the robotic manipulator.When the external interference can be detected,the feedforward method can effectively reduce the influence brought by the disturbance.However,the external disturbance is usually difficult to measure,so the study on disturbance processing and control problem of the robotic manipulator has become the focus of many researchers.In this paper,the robotic manipulator is used as the research object.Meanwhile the sliding mode control,backstepping sliding model control and adaptive control are used as methods to deal with the disturbance caused by the robotic manipulator.There are three mainly research points as follows:Firstly,for the robotic manipulator system with external interference,a nonsingular terminal sliding mode control strategy based on adaptive control is proposed.Then considering it is difficult to get the upper bound of the unknown disturbance,on the basis of the above method,a nonsingular terminal sliding mode control scheme with low pass filter is proposed.Therefore the tracking error converges to zero gradually in the limited time and the chattering problem of the system can be effectively solved.Then,lyapunov stability theory is used to prove the stability of the system.Finally,the feasibility of this method is demonstrated by simulation.Secondly,in view of the robotic manipulator system which has unknown external disturbance,the nonlinear disturbance observer is used for disturbance processing,and the observed result will be taken as the input of the backstepping sliding mode controller,so that the tracking error of the system can converge to zero asymptotically.Meanwhile the stability of the system is demonstrated by Lyapunov stability theory.In the end,the feasibility of this strategy is demonstrated by experimental simulation.Thirdly,in view of the robotic manipulator system,considering the existence of the external environment and unmodeled disturbance problems such as dynamic error,a new kind of finite time disturbance observer is designed.The controller which puts forward a backstepping sliding mode control based on double-power reaching law method is designed.This method ensure that the tracking error of the system tends to zero in the limited time and the chattering problem caused by sliding mode can be reduced.Then utilizing Lyapunov stability theory to demonstrate the stability of robotic manipulator system.In the end,the feasibility of this strategy is demonstrated by experimental simulation.In this paper,adaptive control,sliding mode control,backstepping sliding mode control,double power approach law and other methods are adopted to control the trajectory of the robotic manipulator system with unknown disturbance,so that the tracking error of the system tends to zero in finite time and the stability of the system is guaranteed.Meanwhile,the feasibility of these methods is demonstrated by experimental simulation.
Keywords/Search Tags:Manipulator system, Disturbance processing, Adaptive control, Sliding mode control, Disturbance observer
PDF Full Text Request
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