多关节机器人反馈线性化双模糊滑模控制  

Feedback Linearization Double Fuzzy Sliding Mode Control for Multi-links Robot

作　　者：胡盛斌[1,2] 陆敏恂[1] 

机构地区：[1]同济大学机械工程学院,上海201804 [2]上海工程技术大学航空运输学院,上海201620

出　　处：《机械科学与技术》2013年第1期105-110,115,共7页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(51175321);上海市科委科研计划项目(09170502400)资助

摘　　要：为了提高多关节机器人轨迹跟踪控制性能,提出了一种反馈线性化双模糊滑模控制方法。该方法在对机器人非线性动力学模型反馈线性化的基础上,设计了一种双模糊滑模控制器。通过设计一个模糊控制器,根据跟踪误差和误差变化率自适应地调整滑模面的斜率,从而加快响应速度。通过设计另一个模糊控制器,根据滑模面自适应地调整滑模控制的切换控制部分,从而减弱抖振。利用李亚普诺夫定理证明了控制系统的稳定性。针对空间三关节机器人进行了仿真实验,结果表明了所提方法的有效性。In order to improve the performance of trajectory tracking controller for multi-links robot, a feedback lin- earization double fuzzy sliding mode controller was proposed in this paper. The nonlinear dynamic model of multi- links robot was linearized based on the feedback linearization technique, and a double fuzzy sliding model controller was designed. To get faster response speed, a fuzzy controller was designed to adaptively tune the slope of sliding mode surface. To reduce the chattering of sliding mode control, another fuzzy control was designed to adaptively tune the switch part of sliding mode control. The system stability was proved by using the Lyapunov principle. The proposed controllers were used in trajectory control of a three degrees of freedom spatial robot, and the results showed the validity of the control scheme.

关 键 词：滑模控制 模糊控制 反馈线性化 多关节机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]