考虑输入饱和的机械臂轨迹跟踪滑模控制.

To address the issues of complex disturbance and input saturation that affect the trajectory tracking accuracy of the robotic manipulator, an adaptive integrated sliding mode control technique based on input saturation compensation was proposed. Firstly, an auxiliary function was designed based on the adaptive control method to get rid of the input saturation trait. Secondly, the trajectory tracking control law was designed by the estimated upper limit of complex disturbance and the non-singular integral terminal sliding mode control method, which made the tracking error converge to the zero neighborhood quickly and weakened chattering. The Lyapunov stability theorem was used to demonstrate that the algorithm could ensure the finite-time convergence of trajectory tracking error. Finally, the effectiveness of the adaptive non-singular fast terminal sliding mode control method was verified by comparing with the existing control methods through simulation and experimentation. The results show that each joint of the manipulator can track the desired trajectory within 0.5 s and 0.8 s in simulation and experiment, respectively, and the tracking error can be reduced to 1.2×10-3 rad and 8.7×10-3 rad, which can effectively solve the input saturation problem of the manipulator and lessen the influence of complex disturbance on the control accuracy of the system trajectory tracking. [ABSTRACT FROM AUTHOR]