摘要
研究提高关节机器人轨迹跟踪控制的性能,由于关节机器人运动中产生振动,影响系统的稳定性能。为解决上述问题,提出了一种反馈线性化的自适应模糊积分滑模控制方法。在上述方法的基础上,对机器人非线性动力学模型反馈线性化。为了进一步提高滑模控制的精度,设计了一种积分滑模面的滑模控制器,可以减弱积分滑模控制的抖振。通过设计一个模糊控制器,根据积分滑模面的大小自适应地调节积分滑模控制的切换部分,达到削弱抖振的目的。利用李亚普诺夫定理证明了控制系统的稳定性。仿真结果表明,改进方法有效地提高了关节机器人跟踪控制性能。
In order to improve the performance of trajectory tracking controller for three - links spatial robot, an adaptive fuzzy integral sliding mode controller based on feedback linearization was proposed in this paper. The nonlinear dynamic model of three - links spatial robot was linearized by means of the feedback liuearization technique, and a integral sliding model controller was designed to reduce tracking errors of traditional sliding mode controller. To reduce the chattering of integral sliding mode control, a fuzzy controller was designed to adaptively tune the switch part of integral sliding mode controller based on sliding mode control surface. The system stability was proved by Lyapunov principle. Simulation results show the validity of the proposed control scheme.
出处
《计算机仿真》
CSCD
北大核心
2012年第2期162-166,共5页
Computer Simulation
基金
上海市科委科研计划项目(09170502400)
关键词
积分滑模控制
模糊控制
抖振
空间多关节机器人
Integral sliding mode control
Fuzzy control
Chattering
Multi - links spatial robot
