高阶耦合机器人的自适应模糊滑模分散控制  

ADAPTIVE FUZZY SLIDING MODE DECENTRALIZED CONTROL OF HIGHER-ORDER COUPLING ROBOT SYSTEMS

作　　者：毛玉青[1] 黄云龙[1] 王真富[1] 

机构地区：[1]衢州职业技术学院信息工程学院,衢州324000

出　　处：《动力学与控制学报》2011年第4期337-341,共5页Journal of Dynamics and Control

基　　金：浙江省教育厅科研资助项目(Y200906213)~~

摘　　要：针对一类存在模型不确定性和未知非线性扰动的机器人系统,考虑其不确定项和未知扰动项的上界是关于系统状态的普通高阶多项式,结合模糊系统的逼近能力,提出了一种基于滑模控制原理的自适应模糊分散控制方法.该方法不仅能够使得关节之间相互耦合的机器人各关节的控制器仅由本关节的信息就能完全确定,而且消除了现存文献在设计机器人分散控制器时要求模型不确定项和未知扰动项的上界是常数或系统状态的一阶多项式等相关限定性假设条件.Lyapunov稳定理论分析证明了闭环系统半全局一致终结有界,跟踪误差收敛到零.二自由度机器人的仿真证明了该方法的有效性.For a robot system with model uncertainties and unknown nonlinear perturbations, an adaptive fuzzy sliding mode decentralized control method was put forward by considering the upper bound of the uncertainties and unknown disturbances to be ordinary high order polynomials about the system states, and combined with the approximation ability of fuzzy systems. This method can not only make every joint＇ s controller of robot systems with mutual coupling between the joints completely determined only by the information of itself, but also eliminate the related assumptions which the extant literatures in the design of robot decentralized controller requires modeling uncertainties and the upper bound of the unknown disturbances to be a constant or first-order polynomial about system states. Lyapunov stability theory analysis shows the closed-loop system is semi-globally uniformly ultimately bounded with tracking error converges to zero. Simulation results of two degrees robot systems prove the effectiveness of this method.

关 键 词：高阶耦合机器人 自适应控制 分散控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]