基于遗传算法优化的机器人非奇异终端滑模控制

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余荣荣，姚乐*

 （安徽师范大学 数学计算机科学学院，安徽 芜湖 241000）

 摘要：六自由度并联机器人是一个强耦合、高度非线性的系统，针对此特性研究了非奇异终端滑模控制方法，为改善其运动品质，结合指数趋近律的思想，给出了系统的控制律。利用李雅普诺夫（Lyapunov）理论验证了存在建模误差和外部干扰时六自由度并联机器人控制系统的稳定性，确保了控制系统的鲁棒性。为了进一步减少滑模控制的抖振，提高系统收敛速度和跟踪性能，采用了遗传算法来优化非奇异滑模面和控制律的参数。仿真结果表明：提出的控制策略参数优化后能使机器人的轨迹跟踪稳态误差趋近于零、系统调整时间短、驱动器控制律平滑，达到了高性能的位姿控制。

 关键词： 并联平台；滑模控制；趋近率；遗传算法

 中图分类号： TP 24文献标志码： A

 Nonsingular Terminal Sliding Mode Control of Robot

Based on the Genetic Algorithm Optimization

 YU Rongrong，YAO Le

 (SchoolofMathematicsand Computer Science,AnhuiNormalUniversity,Wuhu241000,China)

 Abstract: This paper studies the nonsingular terminal sliding mode control method for six degree of parallel robot which is a strong coupling and high nonlinear system. The control law integrating the concept of exponential reaching law is presented for improving the quality of parallel robot’s movement. Using the theory of Lyapunov to verify the stability of parallel robot control system with model errors and external disturbance, we can ensure the robustness of the system. In order to reduce the chattering of sliding mode control and improve the convergence speed, the genetic algorithm is used to optimize the nonsingular sliding mode surface and the parameters of the control law. Simulation results show that the presented control strategy for parallel robot system can make the steady state error converges to zero and the setting time short and the output of actuator smooth, so the parallel robot can achieve the high performance of position control.

 Key words: parallel robot；sliding mode control；reaching law；genetic algorithm

收稿日期： 20140112

 基金项目： 国家自然科学基金天元青年基金项目（11125238）.

 作者简介： 余荣荣(1989—)，女，硕士研究生.*通信联系人.