摘要
提出了一种机器人轨迹跟踪的模糊逻辑与变结构控制相结合的控制器设计方案 .采用变结构控制量作为监督控制 ,首先保证机器人系统状态有界 .应用模糊逻辑系统逼近过程的不确定部分 ,利用改进的遗传算法对模糊逻辑系统的参数进行在线调节 ,使得系统输出能够跟踪指定轨迹 .该控制方案能够消除变结构控制所固有的抖振性 .计算机仿真结果表明该控制方案具有良好的跟踪性能 .
Based on fuzzy logic and variable structure control, a design scheme is developed for robot manipulators. The variable structure controller is employed as a supervisory controller to guarantee the state of the robot manipulator bounded. The fuzzy logic system is used to estimate the unknown part of the robot manipulator system. The control scheme utilizes an improved genetic algorithm to adjust the parameters of the fuzzy logic system, so that the output of the system can follow the desired trajectory. It can reduce the inherent chattering of the variable structure control. Simulation results show the effectiveness of the scheme.
出处
《扬州大学学报（自然科学版）》
CAS
CSCD
2002年第3期11-15,共5页
Journal of Yangzhou University：Natural Science Edition
基金
国家自然科学基金资助项目 (6 0 0 74 0 13)
江苏省教育厅高校科研基金资助项目 (0 0 KJB5 10 0 0 6 )
