机器人操作器的自适应模糊滑模控制器设计  

Adaptive fuzzy sliding mode controller design for robot manipulators

作　　者：孙炜伟[1] 武玉强[1] 

机构地区：[1]曲阜师范大学自动化研究所

出　　处：《控制理论与应用》2006年第3期397-402,共6页Control Theory & Applications

基　　金：国家自然科学基金资助项目(60574007);山东省自然科学基金资助项目(Y2003G02)

摘　　要：针对机器人动力学系统提出了一种基于模糊逻辑的自适应模糊滑模控制方案.根据滑模控制原理并利用模糊系统的逼近能力设计控制器,基于李雅谱诺夫方法设计自适应律,证明了闭环模糊控制系统的稳定性和跟踪误差的收敛性.控制结构简单,不需要复杂的运算.该设计方案柔化了控制信号,减轻了一般滑模控制的抖振现象.仿真结果表明了所提控制策略的有效性.A design scheme of adaptive sliding mode control based on fuzzy logic is proposed for robot manipulators. The controller is designed by the sliding mode control theory and the approximation capability of fuzzy systems. The adaptive law is then determined by means of the Lyapunov method. The stability of the fuzzy control system and the convergence of the tracking errors are also proved. The design of the controller is simple and does not need complicate compution. The control signal is softened so that the chattering phenomenon in a conventional sliding mode control system is alleviated. Finally, the simulation result verifies the effectiveness of the control scheme.

关 键 词：滑模控制 模糊系统 自适应模糊滑模控制 机器人操作器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]