Chattering-Free Fractional-Order Terminal Sliding Mode Control of High-Branch Pruning Manipulator Based on Neural Network

被引：0

作者：

Yuan, Xin ^{[1
]}

Cai, William ^{[1
]}

Zhou, Minghao ^{[1
]}

Jiang, Longbin ^{[1
]}

Li, Jialin ^{[1
]}

Chen, Jiaxin ^{[1
]}

机构：

[1] Harbin Univ Sci & Technol, Sch Elect & Elect Engn, Harbin, Peoples R China

来源：

39TH YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION, YAC 2024 | 2024年

基金：

中国博士后科学基金; 中国国家自然科学基金;

关键词：

pruning manipulator; nonlinear control systems; fractional calculus; terminal sliding mode; SYSTEM;

D O I：

10.1109/YAC63405.2024.10598524

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The positioning process of the high-branch pruning manipulator is prone to vibration. Aiming at the above jitter problem, this paper proposes a chattering-free fractional-order terminal sliding mode control strategy based on neural network. Neural network control can reduce the gain of the switch and further reduce chattering. The singularity problem is solved by not differentiating the exponential term. The simulation results show that the proposed control strategy can better eliminate the chattering and is more stable than the existing control strategy.

引用

页码：1310 / 1315

页数：6

共 14 条

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