未知干扰下机械臂的非奇异快速终端滑模控制.pdfVIP

2025年2月机

械

科

学

与

技

术February2025

第44卷第2期Mechanical

Science

and

Technology

for

Aerospace

EngineeringVol.

44No.

2

崔云飞，刘放，李晨晖,

等.

未知干扰下机械臂的非奇异快速终端滑模控制[J].

机械科学与技术，2025，44（2）：298-304

未知干扰下机械臂的非奇异快速终端滑模控制

崔云飞，刘放，李晨晖，许沛森，黄文建

（西南交通大学

机械工程学院，成都

610031）

摘要：针对机械臂在工作时受到的未知干扰较大，非线性系统动力学建模不精确的问题，设计了一种

考虑干扰观测器补偿的非奇异快速终端滑模NFTSMC

(Non-singular

fast

terminal

sliding

mode)

算法

;将未知干扰引入由拉格朗日动力学推导的机械臂动力学方程中；设计了非线性扰动观测器

NDO(Nonlinear

disturbance

observer)以观测干扰并在控制输入中补偿，并证明了观测器的收敛性；

设计了非奇异快速终端滑模面并推导出控制输入，随后用李雅普诺夫稳定性判据证明了系统的收

敛性；搭建了二自由度机械臂模型并仿真，验证了本文所设计的控制策略的有效性和优越性。

关键词：非奇异快速终端滑模控制；机械臂；非线性系统；干扰观测器

中图分类号：TP273文献标志码：A

DOI：10.13433/ki.1003-8728文章编号：1003-8728（2025）02-0298-07

Non-singularFastTerminalSlidingModeControlofManipulator

UnderUndeterminedDisturbance

CUI

Yunfei，LIU

Fang，LI

Chenhui，XU

Peisen，HUANG

Wenjian

(School

of

Mechanical

Engineering,

Southwest

Jiaotong

University,

Chengdu

610031,

China)

Abstract：In

order

to

solve

the

problem

that

the

manipulator

is

subject

to

relatively

large

unknown

disturbances

during

working

and

the

dynamic

modeling

of

such

nonlinear

system

is

inaccurate,anon-singular

fast

terminal

sliding

mode

control

(NFTSMC)

algorithm

with

disturbance

observer

compensation

is

designed

in

this

paper.

Firstly,

the

undetermined

disturbance

terms

are

introduced

into

dynamic

equation

of

the

manipulatordeduced

by

Lagrange

dynamic

theory.

Then,

thenonlinear

disturbance

observer

(NDO)

is

constructed

to

observe

disturbance

and

compensate

it

in

control

input

with

convergence

of

NDO

being

proved.

After

that,

the

non-

singular

fast

terminal

sliding

surface

is

designed

with

deduction

of

control

input.

Subsequently,

convergence

of

the

syste