控制理论(社会学)
终端滑动模式
稳健性(进化)
李雅普诺夫函数
跟踪误差
自适应控制
机械手
机器人
指数稳定性
滑模控制
Lyapunov稳定性
趋同(经济学)
计算机科学
控制工程
工程类
非线性系统
人工智能
控制(管理)
经济
物理
化学
基因
量子力学
生物化学
经济增长
作者
Yue Zhang,Lijin Fang,Tangzhong Song,Ming Zhang
摘要
Abstract A fast convergent non‐singular terminal sliding mode adaptive control law based on prescribed performance is formulated to solve the uncertainties and external disturbances of robot manipulators. First, the tracking error of robot manipulators is transformed by using the prescribed performance function, which improves the transient behaviors and steady‐state accuracy of robot manipulators. Then, a novel fast convergent non‐singular terminal sliding mode surface is brought up according to the transformed error, and the control law is derived to meet the stability requirements of robot manipulators. In practice, the upper boundary of the lumped disturbances cannot be accurately obtained. Therefore, an adaptive prescribed performance control (PPC) controller to lumped disturbances is brought up to ensure the stability and finite‐time convergence of robot manipulators. Finally, the system stability of robot manipulators is proved by the Lyapunov theorem. Simulation results and comparative analysis demonstrate the superiority and robustness of the raised strategy.
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