基于饱和函数的机械臂模糊滑模趋近律设计  

Design of fuzzy trending law based on saturation function in sliding mode control for robotic manipulators

作　　者：席雷平[1] 郭辉[2] 何东[3] 

机构地区：[1]军械工程学院光学与电子工程系,河北石家庄050003 [2]河北科技大学外国语学院,河北石家庄050018 [3]河北电力研究院,河北石家庄050021

出　　处：《河北科技大学学报》2011年第5期482-487,共6页Journal of Hebei University of Science and Technology

基　　金：军队2110实验室重点资助项目;军械工程学院基金项目(JX2011026)

摘　　要：为了削弱机械臂滑模控制中的抖振现象,提出了模糊趋近律的控制方法。利用模糊控制器实时调整滑模控制的趋近律参数,并将饱和函数引入趋近律的设计中,设计了一种新型趋近律。该方法既保证了控制系统的快速性和鲁棒性,又能够有效地削弱抖振,另外,控制系统设计简单,便于工程应用。仿真结果表明,该控制策略不仅有效地抑制了系统的抖振,而且保证了机械臂系统对期望轨迹的快速跟踪性,进而提高了机械臂的工作性能。In order to weaken chattering phenomenon of robotic manipulators,a method of fuzzy trending law is presented.It applies fuzzy controller to adjust the parameters of trending law of sliding mode control timely,while saturation function is introduced into trending law design,and then a new trending law is proposed.This method can not only ensure the speediness and robustness of the control system,but also weaken chattering effectively.In addition,the design of the control system is simple,so it can be easily applied to engineering.The simulation results show that the scheme can not only control the chattering effectively but also achieve a fast and accurate tracking,thus enhancing the operational performance of robot manipulators.

关 键 词：机械臂 模糊滑模控制 抖振 饱和函数 趋近律 

分 类 号：TP391.8[自动化与计算机技术—计算机应用技术]