| 机器人操作器有限时间跟踪中继切换控制 |
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| 引用本文： | 武玉强,宗广灯.机器人操作器有限时间跟踪中继切换控制[J].自动化学报,2005,31(3):412-418. |
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| 作者姓名： | 武玉强 宗广灯 |
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| 作者单位： | 1.Institute of Automation, Qufu Normal University, Qufu 273165 |
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| 基金项目： | 国家自然科学基金，国家自然科学基金 |
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| 摘 要： | A global relay switching control scheme with finite time convergence (FTC) is proposed for multi-joint rigid robotic manipulator systems with uncertain dynamics. For a general finite time controller, the control signals may tend to infinity in finite time when the initial states of the system are in some specified area, causing the singularity problem of the closed-loop system and finite escape. The design scheme for finite time tracking control uses a relay switching control method so that the boundedness of the control signal is guaranteed and the singularity phenomenon is avoided. The validity of our scheme is demonstrated by simulation results.
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| 关 键 词： | Finite time tracking relay switching controller terminal sliding mode (TSM) variable structure control |
| 收稿时间： | 2004-5-14 |
| 修稿时间： | 2004-9-28 |
Relay Switching Controller with Finite Time Tracking for Rigid Robotic Manipulators |
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| WU Yu-qiang,ZONG Guang-Deng.Relay Switching Controller with Finite Time Tracking for Rigid Robotic Manipulators[J].Acta Automatica Sinica,2005,31(3):412-418. |
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| Authors: | WU Yu-qiang ZONG Guang-Deng |
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| Affiliation: | 1.Institute of Automation, Qufu Normal University, Qufu 273165 |
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| Abstract: | A global relay switching control scheme with finite time convergence (FTC) is proposed for multi-joint rigid robotic manipulator systems with uncertain dynamics. For a general finite time controller, the control signals may tend to infinity in finite time when the initial states of the system are in some specified area, causing the singularity problem of the closed-loop system and finite escape. The design scheme for finite time tracking control uses a relay switching control method so that the boundedness of the control signal is guaranteed and the singularity phenomenon is avoided. The validity of our scheme is demonstrated by simulation results. |
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| Keywords: | Finite time tracking relay switching controller terminal sliding mode (TSM) variable structure control |
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