吴爱国,刘海亭,董娜.机械臂神经网络非奇异快速终端滑模控制[J].农业机械学报,2018,49(2):395-404.
WU Aiguo,LIU Haiting,DONG Na.Nonsingular Fast Terminal Sliding Mode Control of Robotic Manipulators Based on Neural Networks[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(2):395-404.
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机械臂神经网络非奇异快速终端滑模控制   [下载全文]
Nonsingular Fast Terminal Sliding Mode Control of Robotic Manipulators Based on Neural Networks   [Download Pdf][in English]
投稿时间:2017-06-13  
DOI:10.6041/j.issn.1000-1298.2018.02.051
中文关键词:  机械臂  轨迹跟踪  终端滑模  神经网络  有限时间收敛
基金项目:国家自然科学基金项目(61403274)和天津市智能制造科技重大专项(15ZXZNGX00160)
作者单位
吴爱国 天津大学 
刘海亭 天津大学 
董娜 天津大学 
中文摘要:针对多自由度机械臂轨迹跟踪控制系统存在收敛速度慢、跟踪精度低的问题,提出了一种基于径向基神经网络(RBFNN)的非奇异快速终端滑模(NFTSM)自适应轨迹跟踪控制方法。首先,该方法采用非奇异快速终端滑模超曲面,切换控制项引入连续终端吸引子,使得系统能在有限的时间内收敛到平衡点。其次,采用RBFNN逼近系统未知非线性动力学,并结合逼近误差的自适应补偿机制,实现无模型控制。利用Lyapunov理论证明闭环系统的全局渐进稳定性和有限时间收敛性。最后,将该控制方法应用于Denso串联机械臂进行实验验证,并分析系统传输延时对实验结果的影响,提出解决方法。仿真和实验结果表明,该控制方法能有效地提高系统收敛速度和跟踪精度,增强对外部扰动的鲁棒性,削弱系统抖振。
WU Aiguo  LIU Haiting  DONG Na
Tianjin University,Tianjin University and Tianjin University
Key Words:robotic manipulators  trajectory tracking  terminal sliding mode  neural network  finite time convergence
Abstract:A nonsingular fast terminal sliding mode adaptive controller based on RBF neural network was proposed for trajectory tracking control of multi degree of freedom manipulator with slow convergence speed and low tracking precision. Firstly, the nonsingular fast terminal sliding mode hypersurface was adopted in the control scheme and the continuous terminal attractor was introduced into the switch control, which made the system converge to the equilibrium point in a finite time. Secondly, the adaptive RBF neural network was used to approximate the unknown nonlinear dynamics of the system, the adaptive compensation mechanism of approximation error and adaptive law of weights of neural networks were designed to realize the model free control. The global asymptotic stability and finite time convergence of the closed-loop system were proved by Lyapunov theory. Finally, the control method was applied to Denso serial manipulator for experimental verification, the effect of transmission delay on the experimental results was analyzed and the solution was proposed. The simulation and experimental results demonstrated that the proposed control method can improve the convergence speed and the tracking accuracy of the system effectively, and enhance the robustness of the external disturbance. At the same time, it can weaken the chattering of the system and enhance the real-time control.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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