水平欠驱动机械臂的反步自适应滑模控制

Backstepping Adaptive Sliding Mode Control for Horizontal Underactuated Manipulators

摘要: 针对二自由度水平欠驱动机械臂系统，提出了基于分层滑模控制思想的反步自适应滑模控制方法．该方法能够在不对系统状态模型进行复杂坐标变换，并且没有约束方程限制的前提下实现对欠驱动系统的反馈滑模控制．仿真结果表明了该方法的有效性，而且优化后的控制器具有较好的适应性和控制效果．

Abstract: A method of backstepping adaptive sliding mode control based on hierarchical sliding mode control theory is presented for a 2-DOF horizontal underactuated manipulator.The method can achieve underactuated system's feedback sliding mode control without either complex coordinate transformation for the system state model or constraint equation restrictions.Simulation results show that the method is valid and the optimized controller can get better adaptability and control results.