基于模糊逻辑的多连杆柔性机器人连续滑动模控制  

Fuzzy Logic Based Continuous Sliding Mode Control of Multi link Flexible Robot

作　　者：王立[1] 徐建闽[1] 

机构地区：[1]华南理工大学自动化系

出　　处：《系统工程理论与实践》1998年第8期113-121,共9页Systems Engineering-Theory & Practice

基　　金：国家自然科学基金;广东省自然科学基金

摘　　要：采用滑动模控制原理，设计了一个基于模糊逻辑的连续滑动模控制器，对多连杆柔性机器人控制进行抛物线轨迹跟踪控制，并采用ＰＩＤ方法，使得系统镇定，仿真结果表明，本文设计的控制器对输入干扰及柔性机器人模型的不确定性及负载的变化都有良好的鲁棒性，并且良好的动态特性，克服了滑动模控制器所固有的抖动问题。In this paper, a fuzzy logic based continuous sliding mode controller is developed based on the principle of sliding mode control for the parabola tracking of a multi link flexible robot,PID compensations is adopted to stabilize the system. Simulation results show that the control system exhibits strong robustness against system model uncertainties and external disturbances and payload variations. Since the proper fuzzy logic switching are applied,the chattering problem which is inherent to sliding mode control is overcomed, so the system has a good dynamic response.

关 键 词：柔性机器人 模糊控制 鲁棒性 滑动模控制 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]