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Fast robust control of oscillatory base manipulators based on variable power log-reaching law
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Hao CHEN1, 2, Yu-fei GUO1, 2, Sheng-yue XU1, 2, Zhi-gang WANG1, Zhi-qiang HAO1
Journal of Vibration Engineering | 2024, 37(8) : 1290 - 1298
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Journal of Vibration Engineering | 2024, 37(8): 1290-1298
Fast robust control of oscillatory base manipulators based on variable power log-reaching law
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Hao CHEN1, 2, Yu-fei GUO1, 2, Sheng-yue XU1, 2, Zhi-gang WANG1, Zhi-qiang HAO1
Affiliations
  • 1Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education，Wuhan University of Science and Technology，Wuhan 430081，China
  • 2Institute of Robotics and Intelligent Systems，Wuhan University of Science and Technology，Wuhan 430081，China
Published: 2024-08-28 doi: 10.16385/j.cnki.issn.1004-4523.2024.08.003
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A fast robust control strategy based on variable power log-reaching law is proposed for a class of manipulator systems with uncertain random oscillations in the mounting base. The uncertain dynamic model of the system is established based on Euler-Lagrange equation，and the oscillation term of the base in the model is regarded as the uncertain external disturbance force of the manipulator system. A new approach law of variable power logarithm function is proposed，which can realize the rapid approach of the system state far away from the sliding mode surface，and ensure the effective chattering suppression after approaching the sliding mode surface. On this basis，combined with a fast terminal sliding surface，a fast robust controller is designed，which can further improve the state convergence rate of the system. The finite-time convergence of the controller is proved based on Lyapunov stability theory. An experimental platform is built to further verify the effectiveness of the controller.

oscillatory base manipulator  /  sliding mode control  /  finite time control  /  reaching law
Hao CHEN, Yu-fei GUO, Sheng-yue XU, Zhi-gang WANG, Zhi-qiang HAO. Fast robust control of oscillatory base manipulators based on variable power log-reaching law[J]. Journal of Vibration Engineering, 2024 , 37 (8) : 1290 -1298 . DOI: 10.16385/j.cnki.issn.1004-4523.2024.08.003
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Year 2024 volume 37 Issue 8
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Article Info
doi: 10.16385/j.cnki.issn.1004-4523.2024.08.003
  • Receive Date：2022-10-20
  • Online Date：2026-02-12
  • Published：2024-08-28
Article Data
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History
  • Received：2022-10-20
  • Revised：2023-01-31
Funding
Affiliations
    1Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education，Wuhan University of Science and Technology，Wuhan 430081，China
    2Institute of Robotics and Intelligent Systems，Wuhan University of Science and Technology，Wuhan 430081，China
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表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
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Genus		 种数
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Percentage of total
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鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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