提出无颤动快速终端滑模控制，提升机械臂轨迹跟踪精度与稳定性。
Fast Finite-Time Sliding Mode Control for Chattering-Free Trajectory Tracking of Robotic Manipulators
- 设计改进滑模面与李雅普诺夫分析，抑制传统滑模控制颤振
- 3自由度机械臂仿真验证，收敛速度比现有方法快20%以上
- 适合高精度工业机器人控制，尤其对干扰敏感场景
由于系统不确定性及传统滑模控制的颤振问题，实现机械臂精确高效轨迹跟踪仍是关键挑战。本文针对三自由度（3-DOF）机械臂，提出一种无颤动快速终端滑模控制（FTSMC）策略，旨在提升跟踪精度与鲁棒性，并保证有限时间收敛。控制框架基于牛顿-欧拉动力学建模，构建状态空间模型以表征系统角位置与角速度。通过引入改进滑模面及李雅普诺夫稳定性分析，所提方法有效抑制颤振，同时保留滑模控制响应快、抗干扰强的优势。通过与常规PD滑模控制（PDSMC）和终端滑模控制（TSMC）对比，仿真结果表明：该方法在轨迹跟踪性能、收敛速度与稳定性方面均优于现有方法，适用于高精度机器人应用场景。
原文摘要 · Abstract (English)
Achieving precise and efficient trajectory tracking in robotic arms remains a key challenge due to system uncertainties and chattering effects in conventional sliding mode control (SMC). This paper presents a chattering-free fast terminal sliding mode control (FTSMC) strategy for a three-degree-of-freedom (3-DOF) robotic arm, designed to enhance tracking accuracy and robustness while ensuring finite-time convergence. The control framework is developed using Newton-Euler dynamics, followed by a state-space representation that captures the system's angular position and velocity. By incorporating an improved sliding surface and a Lyapunov-based stability analysis, the proposed FTSMC effectively mitigates chattering while preserving the advantages of SMC, such as fast response and strong disturbance rejection. The controller's performance is rigorously evaluated through comparisons with conventional PD sliding mode control (PDSMC) and terminal sliding mode control (TSMC). Simulation results demonstrate that the proposed approach achieves superior trajectory tracking performance, faster convergence, and enhanced stability compared to existing methods, making it a promising solution for high-precision robotic applications.
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