输入输出受限的机械臂自适应反步滑模控制

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中图分类号： TP242 文献标志码：A DOI：10.13338/j. issn.1674-649x.2025.02.002

Adaptive backstepping sliding mode control of manipulator with limited input and output

ZHANG Lei 1，2 ，TIAN Rong 1，2 ，YUAN Yuan 1，2

（1.School of Electronics and Information，Xi'an Polytechnic University，Xi'an 710o48，China; 2.Xi'an Polytechnic University Branch of Artificial Intelligence Joint Laboratory，Xi'an 71Oo48，China）

AbstractIn order to solve the problem of low control precision and poor anti-interference ability due to the input and output limitation，the unknown external interference and the uncertainty of its own dynamic parameters，an adaptive backstepping sliding mode control method based on the time-varying tangent barrier Lyapunov function was proposed. Firstly，the issue of input constraint was addressed by designing a saturation compensation system to enhance the stability of the control system.Secondly，external unknown disturbances and uncertainties in the dynamic parameters were treated as composite disturbances， and a feedback adaptive law was designed to accurately estimate them. Simultaneously，a time varying tangent-type barier Lyapunov function was employed to confine the position error and velocity error within time-varying bounds.Finally，the closed-loop control system was proven to be bounded stable through Lyapunov theory analysis.The simulation results show that the proposed control method reduces the tracking error of joint 1 and joint 2 by 58% and 33% ，respectively，compared with the control method based on the time- varying log-obstacle Lyapunov function.Compared with the method without input constraint，the proposed control method improves the response speed of joint 1 and joint 2 by 69% and 50%

Keywords trajectory tracking control; input-output constraints； barrier Lyapunov function； a-daptive control

0引言

随着机械臂在工业、医疗和军事等多个领域的应用[1]，对轨迹跟踪控制精度与性能提出了更高的要求。（剩余12974字）