| 基于遗传优化的水平欠驱动机械臂分层滑模控制 |
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| 引用本文： | 林壮,朱齐丹,邢卓异.基于遗传优化的水平欠驱动机械臂分层滑模控制[J].控制与决策,2008,23(1):99-102. |
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| 作者姓名： | 林壮 朱齐丹 邢卓异 |
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| 作者单位： | 哈尔滨工程大学,自动化学院,哈尔滨,150001 |
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| 基金项目： | 人事部留学回国人员科技活动择优基金 |
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| 摘 要： | 针对二自由度水平欠驱动机械臂系统,提出一种基于等效控制理论和李雅普诺夫反馈函数法的分层滑模变结构控制方法.同时,为解决由于欠驱动系统控制缺少通用的参数计算方法而产生控制精度低的问题,提出了针对水平欠驱动系统的遗传算法在全局参数空间进行全参数寻优的改进控制方法.仿真结果表明了该方法的有效性,并且优化后的控制器具有较好的适应性和控制效果.
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| 关 键 词： | 机械臂 欠驱动系统 滑模控制 遗传算法 |
| 文章编号： | 1001-0920（2008）01-0099-04 |
| 收稿时间： | 2006-10-10 |
| 修稿时间： | 2007-01-26 |
Hierarchical sliding mode control for horizontal underactuated manipulators with optimization based on GA |
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| LIN Zhuang,ZHU Qi-dan,XING Zhuo-yi.Hierarchical sliding mode control for horizontal underactuated manipulators with optimization based on GA[J].Control and Decision,2008,23(1):99-102. |
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| Authors: | LIN Zhuang ZHU Qi-dan XING Zhuo-yi |
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| Affiliation: | LIN Zhuang,ZHU Qi-dan,XING Zhuo-yi(College of Automation,Harbin Engineering University,Harbin 150001,China.) |
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| Abstract: | Based on the equivalent control method and Lyapunov feedback function law, a hierarchical variable structure sliding mode controller is proposed for a two-DOF horizontal underactuated manipulators. And because the system lacks universal parameters selection measures, an improved method based on genetic algorithm and optimized all parameters in global parameters space for the horizontal underactuated system is presented to solve the low control precision problem. The simulation results show the effectiveness of the method, and the optimized controller has better adaptability and control effects. |
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| Keywords: | Robot manipulators Underactuated system Sliding mode control Genetic algorithm(GA) |
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