基于MIMO系统的机械手自适应模糊滑模控制  

Adaptive fuzzy sliding mode control for manipulator based on MIMO system

作　　者：倪骁骅[1] 刘青[2] 

机构地区：[1]盐城工学院机械优集学院,江苏盐城224051 [2]江苏大学机械工程学院,江苏镇江212013

出　　处：《中国农机化学报》2015年第2期265-268,256,共5页Journal of Chinese Agricultural Mechanization

摘　　要：机械手运行过程中存在的不确定性,提出了一种基于模糊补偿的滑模控制,该控制算法利用MIMO(多输入多输出)模糊系统来逼近系统中存在的误差。文中设计了鲁棒自适应控制律,消除了逼近误差造成的影响,保证系统的稳定性。根据机械手动力学方程与机械手不确定性表达式的性质,有效地减少了模糊控制规则的数量。计算机仿真表明该算法的有效性。The sliding mode control based on fuzzy compensation was proposed in order to compensate the uncertainties exist in ihe operation of the manipulator. The control algorithm uses MIMO fuzzy system to approximate errors in the system. The robust adaptive control law was designed to eliminate the influence caused by approximate error, and the stability of the system was ensured .The number of fuzzy rules was reduced based on the properties of manipulator kinetic equations and uncertainty expression.

关 键 词：机械手 模糊补偿 滑模控制 计算机仿真 

分 类 号：P242[天文地球—测绘科学与技术]