多关节机器人的自适应模糊滑模控制  

Adaptive Fuzzy Sliding Mode Control for Multi-link Robots

作　　者：穆效江[1] 陈阳舟[1] 

机构地区：[1]北京工业大学电控学院,北京100022

出　　处：《控制工程》2008年第5期619-622,共4页Control Engineering of China

基　　金：教育部博士点基金资助项目(20060005014);国家自然科学基金资助项目(60374007)

摘　　要：针对多关节机械臂轨迹跟踪控制,提出了一种基于全局快速终端滑模面的自适应模糊滑模控制方法。该方法通过设计合适的自适应律,采用模糊自适应控制调节滑模控制的切换控制增益,实现了对建模误差和不确定干扰的自动跟踪,削弱了抖振。系统不需要对建模误差和干扰进行预估计,并且通过对控制器结构的简化,降低了模糊控制器的维数,减少了计算量。利用李亚普诺夫定理证明了控制系统的稳定性,仿真结果表明了其有效性。To the trajectory traking control problem of multi-link robots, an adaptive fuzzy sliding mode controller is given based on global fast terminal sliding mode manifold. A proper law is designed to adaptively adjust the switching gain of sliding mode control by fuzzy control. The controller can automatically track the maximum limit of model errors and disturbances, and has little chattering. Prediction estimation for model errors and disturbances of the proposed control system is not needed. Dimension of the fuzzy controller is reduced by simplifying the whole controller. Moreover, the system stability is proved by Lyapunov principle. Simulation results show the validity of the control scheme.

关 键 词：全局快速终端滑模控制 自适应模糊控制 建模误差 抖振 滑模面 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]