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针对一类高阶滑模算法收敛速度慢、控制作用不连续等不足,以二自由度轮式机器人为控制对象设计了改进算法.首先,引入虚拟控制项以增加系统相对阶的形式进行高阶滑模算法改进,得出了一种新的高阶滑模控制律.与原算法相比,系统收敛速度快、控制作用平滑连续.然后,为解决二阶超螺旋算法仅适用于系统相对阶为1的问题,以跟踪误差的高阶导数建立滑动量,构造适用于高阶系统的二阶超螺旋算法.最后,通过数值仿真验证了改进算法的有效性.
Aiming at the disadvantages of a class of high-order sliding mode algorithms, such as slow convergence and discontinuous control, the improved two-degree-of-freedom robot is designed.Firstly, the virtual control is introduced to increase the relative order of the system, The sliding mode algorithm is improved and a new higher order sliding mode control law is obtained. Compared with the original algorithm, the system converges fast and the control effect is smooth and continuous. Then, to solve the second order super-spiral algorithm, 1, we establish the second-order super-helix algorithm for higher-order systems by using the higher-order derivative of tracking error to establish the sliding quantity.Finally, the effectiveness of the improved algorithm is verified by numerical simulation.