工业机器人轨迹跟踪的自适应模糊变结构算法  

Adaptive Fuzzy Variable Structure Control Algorithm for Trajectory Tracking of Industrial Robots

作　　者：翟敬梅[1] 康博[1] 唐会华[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510640

出　　处：《华南理工大学学报（自然科学版）》2012年第12期12-16,23,共6页Journal of South China University of Technology(Natural Science Edition)

基　　金：广东省战略性新兴产业项目(2011A091101001);广东省产学研项目(2011A091000029;2012B010900076)

摘　　要：为提高工业机器人的轨迹跟踪控制性能,提出了一种自适应模糊变结构控制算法,即对滑模区中趋近运动的趋近律进行重新设计,新设计的趋近律能够随着机器人轨迹跟踪误差的改变而做出相应变化,从而使设计后系统的抖振减小,滑模过程中的趋近运动得到改善,控制性能也得到提高.针对该算法设计了自适应模糊变结构控制器,并与其他方法做了实验对比分析,结果表明该算法的响应速度、跟踪精度等更优.Proposed in this paper is an adaptive fuzzy variable structure control （AFVSC） algorithm to improve the performance of trajectory tracking control of industrial robots. In this algorithm, the reaching law varying with the trajectory tracking error is redesigned for the reaching motion in the sliding mode region, which reduces the buffeting of the system, improves the reaching motion and enhances the control performance. Moreover, an adaptive fuzzy variable structure controller is designed and is compared with some existing schemes by experiments. The results indicate that the proposed AFVSC algorithm is of higher response rate and tracking accuracy.

关 键 词：工业机器人 轨迹跟踪 变结构控制 自适应模糊控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]