基于干扰观测器的单连杆柔性臂分层滑模控制算法设计

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关键词：柔性机械臂；分层滑模算法；干扰观测器；抗干扰能力

中图分类号：TP273 文献标志码：A 文章编号：1003-5168（2025）12-0005-05

DOI：10.19968/j.cnki.hnkj.1003-5168.2025.12.001

DisturbanceObserverBasedHierarchical SlidingMode ControlforaSingle-Link Flexible Arm

SHI Yusong HAN Guangxin LIU Yaoyao （School ofInformationand ControlEngineering，JilinInstituteofChemical Technology，Jilin132022，China）

Abstract：[Purposes] To enhance the trajectory tracking precision and robustness against disturbances for a single-link flexible robotic arm，a hierarchical sliding mode control algorithm incorporating an disturbance observer has been devised.[Methods] Initially，adynamic modelfor the single-link flexible robotic arm is formulated using the Lagrange equation in conjunction with the assumed mode method.Subsequently，a sliding mode disturbance observer is developed to estimate the system's unknown disturbances.Finally，a hierarchical sliding mode controller is employed to perform trajectory tracking for the system.[Findings] Simulation results demonstrate that when tracking the trajectory of a 20 s sine wave yd=30sin（πt/5） ，the proposed control strategy exhibits stronger disturbance rejection capabilities compared to the hierarchical sliding mode control algorithm，resulting in a reduction of trajectory tracking error by O.786 4.[Conclusions] This study focuses on a nonlinear，strongly coupled，underactuated single-link flexible robotic arm.The hierarchical sliding mode control algorithm achieves trajectory tracking for the system.With the introduction of the sliding mode disturbance observer，the system achieves higher trajectory tracking accuracy and stronger robustness.

Keywords： flexible robotic arm; hierarchical sliding mode control; disturbance observer;disturbance re

jectioncapabilities

0 引言

随着机器人控制技术的不断发展，机械臂在航空航天、医疗、电子等领域中的应用日益广泛]。（剩余4794字）