移动机械手鲁棒自适应模糊控制  

Robust and adaptive fuzzy control for mobile manipulator

作　　者：王红旗[1] 王庆林[2] 

机构地区：[1]河南理工大学电气工程与自动化学院,河南焦作454000 [2]北京理工大学自动化学院,北京100081

出　　处：《控制与决策》2010年第3期461-465,共5页Control and Decision

摘　　要：基于旋量理论建立了非完整移动机械手系统的动力学模型,通过反步控制技术,应用非线性参数化模糊逻辑系统设计了移动机械手的鲁棒自适应模糊控制器.该控制器放松了移动机械手控制器设计中斜对称性的要求,对移动机械手系统中存在的参数或外界扰动等不确定性具有较强的鲁棒性和自适应能力.理论证明和仿真结果表明,所设计的控制器是有效的.Screws-based dynamics model of nonholonomic mobile manipulator systems is built. By using backstepping control technology and applying nonlinear-parameterized fuzzy logical systems fuzzy logical systems,a robust and adaptive fuzzy controller of mobile manipulator is designed. The controller relaxes the demands of skew symmetry when designing controllers of mobile manipulator,which has stronger robustness and adaptive capacity to uncertainties of parameters or disturbance existing in mobile manipulator systems. Theory proofs and simulation results show that the designed controller is effective.

关 键 词：移动机械手 模糊控制 鲁棒自适应 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]