Chattering-free sliding mode synchronization control for a hybrid mechanism

被引：9

作者：

Cao, Yuanyuan ^{[1
]}

Gao, Guoqin ^{[1
]}

Wu, Xintong ^{[1
]}

机构：

[1] Jiangsu Univ, Sch Elect & Informat Engn, Zhenjiang 212013, Peoples R China

来源：

ADVANCES IN MECHANICAL ENGINEERING | 2017年 / 9卷 / 07期

基金：

中国国家自然科学基金;

关键词：

Hybrid mechanism; synchronization error; synchronization control; sliding mode control; chattering free; DYNAMICAL-SYSTEMS; TRACKING CONTROL; MANIPULATOR; OBSERVER;

D O I：

10.1177/1687814017715982

中图分类号：

O414.1 [热力学];

学科分类号：

摘要：

For a hybrid mechanism used for automobile electro-coating conveying, a chattering-free sliding mode synchronization controller is proposed to improve the synchronization performance during motion process. The Jacobi matrix of the mechanism is calculated according to kinematic analysis, and the dynamic model is established by Lagrange method. Since the mechanism consists of two sets of hybrid mechanisms bilaterally, a novel synchronization error including the synchronization error between two ends of the end-effector is designed. By combining cross-coupling control with chattering-free sliding mode control, a novel chattering-free sliding mode synchronization controller is proposed. The stability of the proposed algorithm is proved by Lyapunov stability theorem. The simulation and experimental results show that the proposed controller can effectively reduce the chattering of driving forces and further improve the synchronization performance and tracking accuracy of the system.

引用

页数：11

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