基于模糊基函数网络的机械臂免模型输出反馈PD控制  

Output Feedback PD Control of Robot Manipulators Dispense with Model Base on Fuzzy-basis-function-network

作　　者：张文辉[1] 齐乃明[1] 李运迁[1] 

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001

出　　处：《国防科技大学学报》2010年第6期163-170,共8页Journal of National University of Defense Technology

基　　金：中国航天科技集团创新基金项目(2009C01);黑龙江省自然科学基金项目(50075020)

摘　　要：针对无速度信息的机械臂轨迹跟踪控制问题,提出了一种带观测器的机械臂免模型模糊基函数网络输出反馈PD控制。所设计的模糊基函数网络被用来估计关节速度,并同时用来补偿系统的未知不确定。网络的权值及参数调整采用混合算法,且能够在线自适应实时调整,不需要离线学习阶段。所提出的观测器及控制器均不需要任何的机械臂动态模型(包括惯性矩阵逆),并通过引入PD控制使整个方案更易工程实现。基于Lyapunov理论证明了整个闭环系统一致最终有界。两关节机械臂试验结果进一步证明了这种基于观测器的反馈控制算法的有效性。Aimed at trajectory tracking of robot manipulators without velocity information,the current study proposed an output feedback PD control without measuring joint velocities dispense with model.The developed controller and observer were based on a Fuzzy-Basis-Function-Network,which were employed to approximate nonlinear functions in the dynamics of controller and estimate velocity of joints.All parameters of the fuzz-basis-functions and weights could be tuned online by commix arithmetic,and no offline learning phase was needed.The observer and controller require no model knowledge of robot manipulators,including inertia matrix.This control scheme is easy to be used in project by introducing PD controller.According to the standard Lyapunov theorem extension,all signals in the closed-loop are uniformly ultimately bounded（UUB）.The simulation of two-link robot manipulators results show that the presented method is effective.

关 键 词：机械臂 观测器 输出反馈控制 模糊基函数 自适应控制 李亚普诺夫理论 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]