文献类型：期刊文献

英文题名：Dynamic modeling and control of multi-axis manipulator based on the Udwadia-Kalaba theory

作者：Xu, Yaru[1,2];Tian, E.[1,2];Li, Kehong[1,2];Men, Sen[1,2];Liu, Rong[3]

第一作者：Xu, Yaru

通讯作者：Tian, E[1]

机构：[1]Beijing Union Univ, Beijing Engn Res Ctr Smart Mech Innovat Design Ser, Beijing, Peoples R China;[2]Beijing Union Univ, Coll Robot, Beijing, Peoples R China;[3]Beihang Univ, Robot Inst, Beijing, Peoples R China

第一机构：北京联合大学

通讯机构：[1]corresponding author), Beijing Union Univ, Coll Robot, Beijing Engn Res Ctr Smart Mech Innovat Design Ser, 97,North 4th Ring Rd East, Beijing, Peoples R China.|[1141739]北京联合大学机器人学院;[11417]北京联合大学;

年份：2025

外文期刊名：MEASUREMENT & CONTROL

收录：;WOS:【SCI-EXPANDED(收录号:WOS:001442883500001)】；

基金：The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work is supported by the Beijing Municipal Science and Technology Project (No. KM202111417006), the Academic Research Projects of Beijing Union University (Nos. ZK10202305 and ZK80202005), and the Beijing Municipal Science and Technology Project (No. KM202111417005)

语种：英文

外文关键词：Multi-axis manipulator; Sliding Mode Control (SMC); the Udwadia-Kalaba theory; dynamic modeling; constraint tracking control

摘要：The high accuracy tracking control of multi-axis manipulator with uncertainty is always a difficult problem for control theorists and engineers. The Udwadia-Kalaba theory effectively characterizes the explicit dynamics equations of constrained mechanical systems. The Sliding Mode Control (SMC) law is implemented under the circumstance of uncertainties in manipulator model, fluctuations in parameters, and external disturbances. However, the existing SMC law has limitations in the convergence speed and chattering. A proposed SMC law combining nonlinear sliding mode hypersurface and double-power reaching law is presented on the basis of dynamic equation provided by the Udwadia-Kalaba theory, which can address the slow convergence speed of reaching law and chattering phenomenon of SMC dynamic response. Moreover, the superiority of the proposed SMC law is verified through a comparison with two compared SMC laws: one that integrates a linear sliding mode manifold with an exponential reaching law, and another that combines the linear sliding mode manifold with the double-power reaching law. Finally, taking the SCARA robot as an illustrative example, the proposed scheme is implemented to the constraint tracking control of the multi-axis manipulator. The results show that the system has stronger robustness and faster convergence speed, which verifies the convincingness of the proposed strategy.