基于模糊增益调整的双关节机械手滑模轨迹跟踪控制  

Trajectory Tracking Control of Sliding Mode Based on Two-joints Robot Manipulator of Fuzzy Gain Adjustment

作　　者：高强[1] 王晨光[1] 

机构地区：[1]天津市复杂系统控制理论及应用重点实验室,天津理工大学自动化学院,天津300384

出　　处：《实验室研究与探索》2012年第11期78-81,110,共5页Research and Exploration In Laboratory

基　　金：天津市市级教学团队自动化专业教学团队项目(20100415);天津大学控制理论优秀课程群建设项目(YB09-13)

摘　　要：为了消除双关节机械手系统中存在的摩擦、外界扰动及负载变化等问题,得到高精度的快速位置跟踪轨迹,可采用保证系统稳定性的滑模控制来实现,但在控制过程中系统会存在抖动问题。为此,引入了自适应模糊系统,实现系统滑模控制中切换增益的自适应逼近,完成控制区间范围内的抑制抖动。仿真结果表明:该方法通过选取控制律和李雅普诺夫函数,证明了系统具有渐进稳定性;并且实现了系统位置及速度等参数的高精度轨迹跟踪控制,又很好抑制了滑模控制中存在的抖动问题,满足了系统高精度的轨迹跟踪控制。A response speed sliding mode control system of manipulator trajectory tracking control system is proposed in order to eliminate existing friction,external disturbances and load changes of double joint manipulator system and get the high precision and fast position tracking trajectory.But there exist in the system very strong jitter shortcomings in the controlling process.Therefore the adaptive fuzzy system is introduced to realize the adaptive approach of switch gain in the system sliding mode control and complete suppression jitter of control interval range.The simulation results show that the system stability is proved through the control law and lyapunov function selection.In addition,the scheme can achieve the fast tracking purpose of high precision and can inhibit jitter problem of the sliding mode control very well,thereby satisfying the trajectory tracking control of high precision of the system.

关 键 词：机械手 滑模控制 模糊系统 自适应增益调整 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]