基于新型滑模面的机械臂快速轨迹跟踪滑模变结构控制

从滑模变结构控制的趋近运动和滑模运动两个阶段人手，分别对影响其性能的滑模面和趋近律进行了设计．首先，基于线性滑模面和终端滑模面，设计了一种具有较快收敛速度的新型非线性滑模面，以缩短系统在滑模运动阶段的运动时间．同时，根据幂次趋近律提出了一种改进的趋近律设计方法，保证了其趋近运动的速度，并减弱了传统滑模变结构控制所固有的抖振．最后，将该方法用于机械臂的滑模轨迹跟踪控制策略设计，仿真结果表明，该策略保证了机械臂对期望轨迹的快速跟踪，具有较强的鲁棒性，并且验证了控制策略的有效性．

Fast Sliding Mode Variable Structure Tracking Control of Robotic Manipulators Based on a New Sliding Surface

The sliding surface and trending law are designed and the performance of reaching movement and sliding mode movement in sliding mode variable structure control are improved. A new nonlinear sliding surface is proposed based on linear sliding surface and terminal sliding sur- face. It can converge to the equilibrium point with a higher speed than former two surfaces in slid- ing mode movement. Then a new improved trending law is designed based on the power trending law which makes the system move toward the sliding mode with a high speed. And the buffeting is also decreased which is an inherent property of traditional sliding mode variable structure con- trol. Lastly, this new method is used to design the tracking control scheme for the robotic manipu- lators. The simulation result shows that the control system is of high tracking speed and strong robustness. The validity of this method is proved.