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本文针对仅装备位置传感器的刚体机构,提出了一种新的鲁棒变结构控制算法。该算法克服了传统的变结构算法中由于过大的开关项系数而激发系统的未建模模态所引起的系统振动现象。重新定义的状态变量实现了观测器和控制器的解耦。在控制器中,对滑动误差的收敛速度进行控制的新概念被首次提出。在我校自行研制的“JTR-1”教学机器人上的实验,证明了这种算法良好的性能。
In this paper, a new robust variable structure control algorithm is proposed for a rigid body equipped only with position sensor. The algorithm overcomes the system vibration phenomenon caused by the unmodeled mode of the system which is caused by the excessive switching coefficient in the traditional variable structure algorithm. Redefined state variables enable the decoupling of the observer and the controller. In the controller, a new concept of controlling the convergence rate of sliding error is proposed for the first time. Experiments on the “JTR-1” teaching robot developed by our school proves the good performance of this algorithm.