自适应增益滑模控制提升7自由度机械臂轨迹跟踪精度与鲁棒性。
Adaptive Task Space Non-Singular Terminal Super-Twisting Sliding Mode Control of a 7-DOF Robotic Manipulator
- 基于自适应增益的非奇异终端超螺旋滑模控制，抑制颤振并应对未知干扰。
- 仿真与实验证明在外部扰动下控制能耗更低，轨迹跟踪误差更小。
- 适合高自由度机械臂的精细操作，尤其适用于工业精密装配场景。
本文提出一种新型任务空间非奇异终端超螺旋滑模（NT-STSM）控制器，采用自适应增益，用于实现7自由度机械臂的鲁棒轨迹跟踪。该方法有效解决颤振、未知干扰及旋转运动跟踪难题，适用于高自由度机械臂的灵巧操作任务。通过严格有界性证明，给出实际应用中的增益选择指导。仿真与硬件实验结果表明，在外部扰动条件下，所提控制器相比其他NT-STSM及传统控制器，具备更优的鲁棒性、更高精度的轨迹跟踪能力，同时显著降低控制努力。结果验证了该控制器在复杂运动中有效缓解颤振与不稳定性，是灵巧机器人操作及多种工业应用的可行解决方案。
原文摘要 · Abstract (English)
This paper presents a new task-space Non-singular Terminal Super-Twisting Sliding Mode (NT-STSM) controller with adaptive gains for robust trajectory tracking of a 7-DOF robotic manipulator. The proposed approach addresses the challenges of chattering, unknown disturbances, and rotational motion tracking, making it suited for high-DOF manipulators in dexterous manipulation tasks. A rigorous boundedness proof is provided, offering gain selection guidelines for practical implementation. Simulations and hardware experiments with external disturbances demonstrate the proposed controller's robust, accurate tracking with reduced control effort under unknown disturbances compared to other NT-STSM and conventional controllers. The results demonstrated that the proposed NT-STSM controller mitigates chattering and instability in complex motions, making it a viable solution for dexterous robotic manipulations and various industrial applications.
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