30878787 a sliding mode control for robot manipulator

8/11/2019 30878787 a Sliding Mode Control for Robot Manipulator

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A C

A

I , 2010


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C D A

.

C 2 :

F , :


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:0=s&

,

:0=s&


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G


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A I

:

:

C H C


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C


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:


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E :

E :


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D :

11 = 1 + 2 1 2 + 2 2 2 + 2 2 1 2 2 ;12 = 2 * 2 2 + 2 * 1 * 2 * (2);

22 = 2 * 2 2;F12 = 2 * 1 * 2 * (2);

1 = ( 1 + 2) * 1 * ( 2) + 2 * 2 * (1 + 2);2 = 2 * 2 * (1 + 2);


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E 1: B

I ( ):

( ) = 90+52.5(1 (1.26 )) I :

1(0) = 80 , 2(0) = 70

1=0.5 , 2 = 0.5 1 = 1.0 , 2 = 0.8 = 1 H , , 5 J 1: K = 8, = 5, ; J 2: K = 8, = 5, ;


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E 2:I B

J 1: K = 8, = 5, ; J 2: K = 8, = 5, ;


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E III:

J 1: K = 8, = 5, = 0.01; J 2: K = 8, = 5, = 0.01; 1=0.5 ,

0.5 2. I

.


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C

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C .


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C. , . , A C BE , IEEE . .

A , . 9, . 208 213, 1993 J.E. , . , A C ,

. , I. E , . G , . . , D A C A

, AGE . I

C , . 25, . 145 162, 2003 C. E , . , C

A , & F


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30878787 a sliding mode control for robot manipulator

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