The Dynamic Sliding-mode Control of The Robotic Manipulator 李凱笙、林志哲
E-mail: [email protected]
ABSTRACT
A redundant robot for the specific application to contour tracking and singularity problem is considered in this paper. This paper also presents a hybrid path planning approach to improve the disadvantage of the perturbation method and the pseudo-inverse method. The proposed method switches these two algorithms according the cost function of manipulation; it has singularity robustness on the paths with singularity and can minimize the computing cost on the paths without singularity. Traditionally, the selection of the sliding surface is not across the initial condition of the error states. Therefore, it results that the sliding mode control motion has two phases, i.e., the reaching phase and the sliding phase. The invariance of the sliding mode control only applies to the sliding phase on the sliding surface. During the reaching phase, the system is sensitive to parameter uncertainty and disturbance. In this paper, a dynamic sliding mode control with global invariance is studied to solve the above problem. On the other hand, velocity sensors are often omitted to save cost and to avoid the influence of noise. In this paper, the problem of velocity measurements can be solved by using the high-gain observer to estimate joint velocities form position measurements. To avoid the chattering due to the discontinuous switching control that is replaced by the iterative learning control. Different to the conventional ILC approach, the sliding variable of the error dynamics is used to improve tracking performance in the proposed method. The results show that the proposed method is able to achieve good tracking performance without chattering.
Keywords : redundant robot, motion planning, singularity problem, sliding-mode control, high-gain observer, iterative learning control.
Table of Contents
第一章 緒論...1 1.1前言...1 1.2文獻回 顧...1 1.3研究動機與本文架構...5 第二章 運動軌跡規 劃...9 2.1廣義逆轉法...9 2.2利用最佳控制求解反向運動 解...13 2.2.1利用擾動法求解最佳化問題...14 2.2.2利用二次規劃法求解最 佳化問題...15 2.3混合反向運動規劃法...17 2.4運動軌跡規劃之模擬結 果...19 2.4.1非奇異點路徑之模擬...20 2.4.2具奇異點路徑之模 擬...25 2.4.3混合反向運動規劃法在具奇異點路徑之模擬...32 第三章 軌跡追蹤 控制器之設計...36 3.1系統數學模式建立...36 3.2傳統順滑模態控 制...40 3.3可變結構模態追隨控制...42 3.4飽和切換控制
律...45 3.5系統觀測器之設計...47 3.6具輸出回授之全域順滑 控制器...48 3.7軌跡追蹤控制之模擬結果...49 第四章 反覆式學習控制 系統...69 4.1何謂學習控制...69 4.2反覆式學習控制理
論...71 4.3結合往覆式學習控制律之全域順滑控制...73 4.3.1傳統順滑模態 控制和反覆式學習控制之比較...76 4.4結合往覆式學習控制律之全域順滑控制模擬結果與討
論...88 4.4.1具輸出回授之全域順滑控制和反覆式學習控制之比較...88 第五章 動態模型之建立與模 擬...100 5.1 SIMULINK簡介...100 5.2 S-function程式撰
寫...101 5.3建立M檔的S-function ...102 5.4系統動態模 型...104 5.4.1動態模型架構...104 5.4.2模型之數值模 擬...107 第六章 結論與建議...113 6.1結
論...113 6.2未來研究方向與建議...114 參考文 獻...115
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