可重构机械臂的鲁棒模糊自适应补偿控制  

Robust Fuzzy Adaptive Compensation Control of Reconfigurable Manipulator

作　　者：葛为民 闫珂珂 王肖锋 刘增昌 Ge Weimin;Yan Keke;Wang Xiaofeng;Liu Zengchang(Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, Tianjin 300384, China;Tianjin Key Laboratory for Control Theory and Applications in Complicated System, Tianjin 300384, China;China Automobile Industry Engineering Co., Ltd., Tianjin 300384, China)

机构地区：[1]天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津市复杂系统控制理论与应用重点实验室,天津300384 [3]中国汽车工业工程有限公司,天津300384

出　　处：《系统仿真学报》2018年第5期1950-1956,共7页Journal of System Simulation

基　　金：天津市自然科学基金(15JCYBJC19800);天津市智能制造科技重大专项(15ZXZNGX00090);天津市教委科研计划(20140403)

摘　　要：针对可重构机械臂的动力学系统中存在的不确定性,提出了基于模糊自适应算法的控制律来自适应逼近系统中存在的摩擦和外部扰动,实现对可重构机械臂的补偿控制。为了提高控制律的补偿精度和抗干扰性,减小算法的逼近误差,在控制律中添加了鲁棒项。通过Lyapunov稳定性理论证明了提出的模糊自适应控制律和鲁棒模糊自适应控制律能在可重构机械臂动力学中含有摩擦和外部扰动时保证系统的稳定性。以三自由度可重构机械臂为例设计了可重构机械臂的控制器,仿真结果显示该算法具有良好的轨迹跟踪性能,验证了该算法的有效性和可行性。Aiming at the uncertainty of the dynamics system of reconfigurable manipulator, a control law based on the fuzzy adaptive algorithm is proposed to adaptively approach the friction and external disturbance in the system, achieving the compensation control of the reconfigurable robot arm. At the same time, the robust items are added in the control law in order to improve the compensation precision and anti-interference performance of the control law, and reduce the approximation error of the algorithm. By Lyapunov stability theory, it is proved that the proposed fuzzy adaptive control law and the robust fuzzy adaptive control law can ensure the stability of the system in case that the reconfigurable manipulator dynamics contains friction and the external disturbance. A reconfigurable robot arm with three degrees of freedom is used as an example to design a controller of the reconfigurable robotic arm. The simulation results show that the algorithm has good trajectory tracking performance, and the feasibility and effectiveness of the algorithm are verified.

关 键 词：模糊自适应 可重构机械臂 鲁棒控制 滑模控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]