| 机器人离散滑模变结构—PI控制器 |
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| 引用本文： | 袁军,刘大革.机器人离散滑模变结构—PI控制器[J].控制与决策,1994,9(3):184-189. |
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| 作者姓名： | 袁军 刘大革 |
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| 作者单位： | 华中理工大学自控系，武汉化工学院，华中理工大学 |
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| 摘 要： | 本文采用离散滑模变结构控制方法，针对机器人提出了一种滑模变结构——ＰＩ控制方案，给出了该控制方案滑模存在条件及控制器设计方案。该控制器将离散滑模变结构控制和ＰＩ控制两者的优点有机地结合起来，理论分析和仿真结果表明该控制器能使机器人在各种复杂非线性动力学情况下具有良好的性能指标。这种控制器输出切换小，可以投入应用。
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| 关 键 词： | 离散滑模控制，PI控制，抖动 |
Discrete Sliding Mode Variable Structure- PI Controller for Robotic Manipulator |
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| Yuan Jun, Huang Xinhan, Chen Jinjiang, Liu Dage.Discrete Sliding Mode Variable Structure- PI Controller for Robotic Manipulator[J].Control and Decision,1994,9(3):184-189. |
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| Authors: | Yuan Jun Huang Xinhan Chen Jinjiang Liu Dage |
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| Affiliation: | Yuan Jun; Huang Xinhan; Chen Jinjiang; Liu Dage (Huazhong University of Science and Technology) (Wuhan Institute of Chemical Technology) |
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| Abstract: | Based on sliding mode variable structure control theory of discrete syStem, this paper presents a design scheme of discrete sliding mode-PI controller for robotic manipulator. The existance condition of sliding mode of the controller and the design laws of the controller are given. The scheme combines the advantage of discrete sliding mode control with that of PI regUlator organically. Theoretical analysis and simulation results show that the controller can make robotic manipulator have excellent performance despite complex nonlinear dynamics. The output switching of controller is little, it can be put into practice in the robotic manipulator control. |
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| Keywords: | discrete sliding mode control PI regulator chattering |
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