基于模糊滑模的机器人控制算法仿真  

Fuzzy Sliding-mode Control Simulation for Robot Manipulators with Uncertainties

作　　者：王三秀[1] 曾平林[1] 

机构地区：[1]台州学院物理与电子工程学院,浙江台州318000

出　　处：《机床与液压》2013年第11期167-169,共3页Machine Tool & Hydraulics

基　　金：浙江省自然科学基金资助项目(Y1090505);浙江省教育厅资助项目(Y201121841)

摘　　要：针对模型和参数不确定的机器人跟踪控制系统,提出一种基于模糊逻辑的滑模变结构控制策略。该策略采用模糊控制器调节滑模控制的切换增益,并利用积分的方法自动对系统的建模误差和干扰的上界进行估计。仿真实验结果表明:该算法鲁棒性好,具有良好的跟踪性能,并且明显改善了滑模控制的抖振问题。A new control strategy of sliding-mode control system based on fuzzy logic was proposed for robotic manipulators that the model and parameters were uncertainties.In this control strategy,the switching gain of sliding mode control was adopted by fuzzy control,and integral method were adopted to automatically estimate the maximum limit of model errors and disturb.The results of simulation show that the scheme can be used to achieve good tracking effect and chattering is obviously eliminated.

关 键 词：模糊滑模控制 不确定机器人 鲁棒性 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]