基于观测器的可重构机械臂分散自适应模糊控制  

Observer-based decentralized adaptive fuzzy control for reconfigurable manipulator

作　　者：朱明超[1] 李英[1] 李元春[1] 姜日花[2] 

机构地区：[1]吉林大学通信工程学院,长春130033 [2]吉林大学中日联谊医院,长春130033

出　　处：《控制与决策》2009年第3期429-434,共6页Control and Decision

基　　金：国家自然科学基金项目(60375030,60674091)

摘　　要：提出一种基于观测器的可重构机械臂分散自适应模糊控制方案.将可重构机械臂的动力学描述为一个交联子系统的集合,子系统控制器由自适应模糊系统和鲁棒控制项组成.基于状态观测器观测值构建的自适应模糊系统用于逼近子系统动力学模型和交联项,鲁棒控制项用于抵消模糊逼近误差对轨迹跟踪的影响.数值仿真证明了所提出的分散控制方案的有效性.An observer based decentralized adaptive fuzzy controller for reconfigurable manipulator is proposed. The dynamics of reconfigurable manipulators is represented as a set of interconnected subsystems. The subsystem controller consists of adaptive fuzzy systems and robust term. By designing the state observer, the adaptive fuzzy systems which are used to model the unknown dynamics of subsystem and the interconnection term can be constructed by using the state estimations. The effect of fuzzy approximation error is removed by employing the robust term. Simulation examples illustrate the effectiveness of the proposed decentralized controller.

关 键 词：模糊控制 自适应控制 观测器 可重构机械臂 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]