适用于仿生眼的与模型无关的滑模阻抗控制
Model Independent PD-SMC Method for Bionic Eye Systems

本文针对仿生眼系统, 提出一种PD型的滑模控制方法(PD-SMC). 该方法与模型无关, 并将传统阻抗控制(PD控制)与滑模控制(SMC)结合在一起, 具有类似PD控制方法结构简单、易于实现的优点, 并且针对系统参数的不确定性以及当系统存在外部扰动时, 具有滑模控制方法(SMC)本身固有的强鲁棒性. 文中设计的PD-SMC控制器中, PD控制环节使仿生眼系统实现稳定的运动控制, SMC控制环节用于补偿不确定的系统参数以及系统受到的外部扰动. 利用Lyapunov方法以及拉塞尔不变性原理证明了闭环系统的稳定性与收敛性. 仿真结果表明所提控制方法具有很好的跟踪控制性能.
A hybrid control approach for bionic eye system is proposed in this paper. This approach is a non model based method, which integrates PD control with sliding mode control (SMC). Proposed controller has a simple structure which is easy to implement. In addition, due to the property of sliding mode control, this approach shows strong robustness with respect to system parameter uncertainty. In the proposed controller, the PD part is for motion control of the bionic eye system and SMC part is to compensate the external disturbance. Lyapunov approach and LaSalle’s invariance theorem have been applied for the theoretical derivations. Simulation results have demonstrated the superior tracking performance of the system.