机器人轨迹跟踪的滑模变结构控制

THE SLIDING MODE VARIABLE STRUCTURE CONTROL FOR THE TRACKING OF ROBOT

摘要: 本文提出了一种新的机器人轨迹跟踪滑模变结构控制方法，给出了控制系统的设计方法和仿真实验结果．仿真结果表明，当机器人参数在±50%范围变化且存在能量有限的正态分布随机干扰时，控制系统具有良好的自适应性．

Abstract: This paper presents a new method of sliding mode variable structure control for the tracking of robot,the design method of the control system and simulation results are gived.The simulation results show that the control system has good self adaptability when the parameters of robot change in the extent of ±50% and exist random interruption of limited energy.