利用传统~PID 和高阶滑模控制的优势, 提出了高阶滑模和~PI 控制相结合的混合滑模控制算法, 并应用于~7DOF 机械臂伺服电机的实时轨迹跟踪. 伺服电机的混合滑模控制是在位置环和速度环采用高阶滑模~$-$PI 混合控制算法, 电流环采用传统的~PID 控制算法. 分析表明基于高阶混合滑模控制技术的~7DOF 机械臂伺服电机系统, 能有效消除传统滑模控制中的抖振问题, 增强了系统鲁棒性, 并实现了快速的轨迹跟踪. 最后, 在一体式控制平台上实验验证了所提出的算法的有效性和实用性.

In this paper, a hybrid sliding mode controller is developed for the trajec- tory tracking of a 7DOF robot arm. By combining a high-order sliding mode algorithm with traditional PI, the proposed controller has been applied both to the position and speed closed loops to enhance the robustness of the controller. Experimental results are given to dmonstrate the perforance of the proposed controller.