Research On Trajectory Tracking Control Of High Speed Manipulator Based On Terminal Sliding Mode

Robot has played an indispensable role in human production and life since it was invented.In the modern industrial manufacturing system,the automation of mechanical equipment and the application of unmanned assembly lines are becoming more and more widespread.It is foreseeable that the manufacturing industry in the 21 st century is a manufacturing industry that will eventually replace traditional manual labor production by automated production,which puts forward higher requirements on the technical level of industrial robots.In industrial production,high-speed and high-precision control have always been important parameters for robot control research.Therefore,the improvement and perfection of robot control algorithms has become a hot research topic in the field of automation in recent years.This topic takes industrial manipulators as the research object,and focuses on the development and application of terminal sliding mode control in the robot motion tracking control algorithm,and proposes three control strategies based on different application scenarios.The algorithm is verified through simulation experiments.Performance,the main contents are as follows:Firstly,this paper introduces the design process of the traditional terminal sliding mode surface and the non-singular fast terminal sliding mode surface.On this basis,in order to obtain a good trajectory tracking effect and reduce the system chattering phenomenon,a new type of second-order terminal sliding mode controller is proved by selecting a suitable Lyapunov function,which theoretically verifies the stability of the system;and the addition of an adaptive law enhances the adaptability of the algorithm in practical applications At the same time,the simulation experiment is also conducted to further verify the control performance of the algorithm.Secondly,in the actual operation process,the acquisition of state information such as the joint speed of the robot arm usually depends on the sensor and other components.In order to effectively reduce the experimental cost and avoid the interference of the noise signal to the sensor,the high gain observer is introduced.The design principle is based on the traditional high-gain observer and the newly proposed improved high-gain observer.Two terminal sliding mode controllers are designed.The Lyapunov stability principle is used to prove to be convergent in a limited time.In simulations,The satisfied trajectory position tracking and speed tracking is obtained,which proves the observation performances of the observers.Finally,the manipulator model with uncertainties is further considered,and neural network algorithm is employed to approximate the manipulator dynamic model.An adaptive terminal sliding mode controller based on RBF neural network is designed for trajectory tracking control of the manipulator.Lyapunov's theory proves the stability of the algorithm,and the high-gain observer is used to estimate the joint velocity information online,which can also obtain good performance.Experimental simulations show the effectiveness and feasibility of the proposed algorithm.And a set of manipulator experimental platform based on c Space system is built to conduct experimental research on the algorithm proposed in this paper.The research results show that the algorithm proposed in this paper has good control performance in practical applications and achieves the expected design goal.