[1]王琥,胡立坤,谭颖.PSO优化的六自由度机械臂全局快速终端滑模控制[J].智能系统学报,2017,12(2):266-271.[doi:10.11992/tis.201605024]
WANG Hu,HU Likun,TAN Ying.A PSO-based global fast terminal sliding mode controllerfor 6-DOF manipulators[J].CAAI Transactions on Intelligent Systems,2017,12(2):266-271.[doi:10.11992/tis.201605024]
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WANG Hu,HU Likun,TAN Ying.A PSO-based global fast terminal sliding mode controllerfor 6-DOF manipulators[J].CAAI Transactions on Intelligent Systems,2017,12(2):266-271.[doi:10.11992/tis.201605024]
PSO优化的六自由度机械臂全局快速终端滑模控制
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
12
期数:
2017年第2期
页码:
266-271
栏目:
学术论文—智能系统
出版日期:
2017-05-05
- Title:
- A PSO-based global fast terminal sliding mode controllerfor 6-DOF manipulators
- Keywords:
- automatic control technology; 6-DOF manipulator; Lyapunov theory; PSO algorithm; global fast terminal sliding mode; control law; chattering
- 分类号:
- TP24
- 摘要:
- 针对六自由度机械臂控制系统，提出一种基于粒子群优化（PSO）算法的全局快速终端滑模控制方法，以更大程度地减小系统的抖振，提高系统的响应速度。对于机械臂多输入多输出的特点，为了方便设计，将系统划分为6个二阶子系统，对各个关节进行设计，分析克服控制律的奇异性，同时运用Lyapunov理论证明系统的稳定性，并基于PSO算法完成控制参数的优化。实验结果表明：优化后的控制方法不仅可以提高系统的快速性，还可以明显减小系统的抖振，使系统具有良好的动静态性能。
- Abstract:
- In this paper, we propose a global fast terminal sliding mode (GFTSM) control method based on particle swarm optimization (PSO) for the 6-DOF (degrees of freedom) manipulator control system to reduce chattering and improve response times of the system. We divided the multi-input multi-output (MIMO) 6-DOF system into six second-order subsystems, each joint designed and analyzed to overcome the singularity of control law. Further, we demonstrated the stability of our system using Lyapunov theory and optimized the control parameters based on the PSO algorithm. Our simulation results show that the optimized control method not only improves the speed and response times of the system, but also reduces the chattering, thus producing a system with good dynamics and static performance.
- 参考文献/References:
-
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- 相似文献/References:
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[1]李小为,胡立坤,王琥.速度约束下PSO的六自由度机械臂时间最优轨迹规划[J].智能系统学报,2015,10(3):393.[doi:10.3969/j.issn.1673-4785.201404035]
LI Xiaowei,HU Likun,WANG Hu.PSO-based time optimal trajectory planning for six degrees of freedom robot manipulators with speed constraints[J].CAAI Transactions on Intelligent Systems,2015,10():393.[doi:10.3969/j.issn.1673-4785.201404035]
备注/Memo
收稿日期:2016-5-24;改回日期:。
基金项目:广西自然科学基金项目（2012GXNSFBA053144）．
作者简介:王琥,男,1990年生,硕士生,研究方向为机器人视觉、机器人控制以及轨迹规划;胡立坤,男,1977年生,研究生导师,主要研究方向是非线性系统动力学与控制、光/风/蓄分布式电源转换与控制、工业测控网络应用。已发表核心期刊学术论文50余篇,其中SCI收录2篇,Ei收录14篇;获得软件著作权1项;获得实用新型专利1项;申请发明专利8项。
通讯作者:胡立坤. E-mail:hlk3email@163.com.
更新日期/Last Update:
1900-01-01