基于T-S模糊模型的机器人轨迹跟踪控制  

Robot trajectory tracking control based on T-S fuzzy model

作　　者：刘桂林[1] 高道祥[1] 闫磊[1] 

机构地区：[1]北京林业大学工学院,北京100083

出　　处：《现代电子技术》2014年第8期102-104,107,共4页Modern Electronics Technique

基　　金：国家自然科学基金资助项(31200480);中国博士后科学基金(2013T60070)

摘　　要：为了解决机器人跟踪控制的建模误差和扰动所引起的不稳定问题,设计一种基于T-S模糊模型的滑模控制器。首先对机器人动力学方程进行扇区非线性处理,建立T-S模糊模型,然后设计出保证机器人系统渐近稳定的滑模控制器。对二连杆机器人进行给定轨迹实验时,系统具有良好的轨迹跟踪性能,系统误差很快收敛到零。实验结果表明该方法对非线性系统具有较强的鲁棒稳定性,验证了该方法的有效性。An adaptive sliding mode controller based on T-S fuzzy model was designed for overcoming the instability resulted from modelling error and perturbation of robotic tracking manipulator. A T-S fuzzy model is established by using sector nonlinear-ity processing for robot dynamic equations. The sliding mode controller is designed to ensure asymptotical stability of robot sys-tem. In the given track experiment of the two-link robot,the system achieved perfect trajectory tracking effect,and the system error was converged to zero rapidly. The results show that the method proposed in this paper has high robust stability for nonlin-ear system. The effectiveness of the method was verified in the experiment.

关 键 词：T-S模糊模型 滑模控制 轨迹跟踪控制 机器人 

分 类 号：TN911-34[电子电信—通信与信息系统] TP273[电子电信—信息与通信工程]