基于干擾觀測(cè)器的單連桿柔性臂分層滑?？刂扑惴ㄔO(shè)計(jì)

打開(kāi)文本圖片集

關(guān)鍵詞：柔性機(jī)械臂；分層滑模算法；干擾觀測(cè)器；抗干擾能力

中圖分類(lèi)號(hào)：TP273 文獻(xiàn)標(biāo)志碼：A 文章編號(hào)：1003-5168（2025）12-0005-05

DOI：10.19968/j.cnki.hnkj.1003-5168.2025.12.001

DisturbanceObserverBasedHierarchical SlidingMode ControlforaSingle-Link Flexible Arm

SHI Yusong HAN Guangxin LIU Yaoyao （School ofInformationand ControlEngineering，JilinInstituteofChemical Technology，Jilin132022，China）

Abstract：[Purposes] To enhance the trajectory tracking precision and robustness against disturbances for a single-link flexible robotic arm，a hierarchical sliding mode control algorithm incorporating an disturbance observer has been devised.[Methods] Initially，adynamic modelfor the single-link flexible robotic arm is formulated using the Lagrange equation in conjunction with the assumed mode method.Subsequently，a sliding mode disturbance observer is developed to estimate the system's unknown disturbances.Finally，a hierarchical sliding mode controller is employed to perform trajectory tracking for the system.[Findings] Simulation results demonstrate that when tracking the trajectory of a 20 s sine wave yd=30sin（πt/5） ，the proposed control strategy exhibits stronger disturbance rejection capabilities compared to the hierarchical sliding mode control algorithm，resulting in a reduction of trajectory tracking error by O.786 4.[Conclusions] This study focuses on a nonlinear，strongly coupled，underactuated single-link flexible robotic arm.The hierarchical sliding mode control algorithm achieves trajectory tracking for the system.With the introduction of the sliding mode disturbance observer，the system achieves higher trajectory tracking accuracy and stronger robustness.

Keywords： flexible robotic arm; hierarchical sliding mode control; disturbance observer;disturbance re

jectioncapabilities

0 引言

隨著機(jī)器人控制技術(shù)的不斷發(fā)展，機(jī)械臂在航空航天、醫(yī)療、電子等領(lǐng)域中的應(yīng)用日益廣泛]。（剩余4794字）