Affiliation:
1. Institute of Manufacturing Engineering, Huaqiao University, China
2. National & Local Joint Engineering Research Centre for Intelligent Manufacturing Technology of Brittle Material Products, Huaqiao University, China
3. College of Information Science and Engineering, Huaqiao University, China
Abstract
The machining robotic manipulators (MRMs) find a broad range of applications due to their high efficiency, wide range of processing, and strong flexibility. High tracking accuracy and strong anti-interference ability are required to trajectory tracking control of machining robot during processing. In view of the above characteristics, this paper proposes a compensation sliding mode control (CSMC) based on nonlinear disturbance observer (NBO-CSMC) for MRM. First, we deduced the dynamic model of MRM considering the uncertainties and disturbances. Then, for improving the trajectory tracking accuracy, a compensation sliding mode controller is designed based on the traditional sliding mode control (TSMC) strategy. Finally, in order to reduce the chattering in sliding mode control, the NBO-CSMC is designed for MRM, NBO is used to estimate the external composite uncertain interference existing in the system, and compensate the system control input in real time. The Lyapunov’s theory proved the stability of the proposed algorithm, and simulation experiments verified the effectiveness of the proposed control strategy.
Funder
Natural Science Foundation of Fujian Province
National Nature Science Foundation of China
Fundamental Research Funds for the Central Universities
Cited by
12 articles.
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