Abstract

In order to improve the synchronization control accuracy of robotic arms under uncertain disturbances, this paper first introduces a virtual principal axis to improve the cumulative error effect caused by synchronization errors. The theory of fractional calculus and sliding mode control is combined with this paper studies and analyzes the fractional-order sliding mode control method, and then introduces the fractional-order sliding mode control method in the cross-coupling control to design the synchronous controller, and proves it using Lyapunov’s theory to ensure progressive stability. Finally, under the two conditions of periodic disturbance and non-periodic disturbance, the proposed method is simulated and verified by using the two-joint robotic arm as the controlled object. The simulation test results show that the proposed control method has faster response speed and Synchronization accuracy, synchronization controller has strong robustness.

中文翻译：

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不确定干扰下机器人ARMS的分数滑模同步控制研究

摘要

为了提高不确定性干扰下机械臂的同步控制精度，本文首先引入了虚拟主轴，以改善由同步误差引起的累积误差效应。结合分数阶微积分理论和滑模控制理论，研究和分析了分数阶滑模控制方法，然后将分数阶滑模控制方法引入交叉耦合控制中，设计了同步控制器。用李雅普诺夫理论证明了这一点，以确保渐进稳定。最后，在周期性扰动和非周期性扰动两个条件下，以双关节机械臂为控制对象，对所提方法进行了仿真和验证。