可重构机械臂自适应反演模糊滑模控制  

Adaptive Backstepping Fuzzy Sliding Mode Control for Reconfigurable Manipulator

作　　者：张炜[1] 杜艳丽[1] 吴勇[1] Zhang Wei;Du Yanli;Wu Yong(College of Electrical and Information Engineering,BeiHua University,Jilin 132021,China)

机构地区：[1]北华大学电气与信息工程学院,吉林吉林132021

出　　处：《湖南科技大学学报（自然科学版）》2018年第4期83-89,共7页Journal of Hunan University of Science And Technology：Natural Science Edition

基　　金：国家自然科学基金资助项目(61374051);吉林省教育厅"十三五"科学研究资助项目(JJKH20180340KJ)

摘　　要：为解决可重构机械臂各关节的位置跳变所导致的速度跳变问题,本文提出了基于生物启发策略的自适应反演快速终端模糊滑模控制方法.首先,利用模糊系统的万能逼近属性去估计机械臂各子系统中的不确定项及子系统间的耦合关联项;其次,在设计反演控制器时,引入生物启发模型,将由机械臂位置跳变所导致的虚拟速度跳变限制在一定范围,得到虚拟的中间变量,从而用它去代替控制律中的轨迹跟踪误差,保证了位置跳变时其轨迹跟踪输出依然平滑.该方法在不改变控制参数的前提下可解决不同构形可重构机械臂的位置跳变问题,最后通过对不同构形可重构机械臂的仿真验证了所述结论.In order to solve the joints velocity jumping of reconfigurable manipulator caused by the position jump,an adaptive backstepping fast terminal fuzzy sliding mode controller based on the biologically inspired strategies,was designed.Firstly,the fuzzy system was used to approximate the uncertain terms and the coupling terms among the subsystems;Secondly,when designing the backstepping controller,the biologically inspired model was introduced to limit the virtual speed caused by the position jump of the manipulator,and the virtual variable was obtained.Thus,the trajectory tracking error in the control law was replaced by it,and the trajectory tracking was still smooth when the trajectory was jumping.This method can solve the problem of position jump of different configuration reconfigurable manipulator without changing the control parameters.Finally,the conclusion was verified by simulation of different configuration reconfigurable manipulator.

关 键 词：可重构机械臂 生物启发 模糊系统 自适应快速终端滑模 反演控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]