可重构机械臂构型自适应模糊滑模控制  

Configuration Adaptive Fuzzy Sliding Mode Control of Reconfigurable Manipulator

作　　者：乔友伟 葛为民 王肖锋 邢恩宏 QIAO You - wei, GE Wei - min, WANG Xiao - feng, XING En - hong

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

出　　处：《计算机仿真》2018年第10期373-380,共8页Computer Simulation

基　　金：国家自然科学基金资助项目(11402170);天津市自然科学基金资助项目(15JCYBJC19800; 16JCZDJC30400);天津市科技计划项目(15ZXZNGX00090)

摘　　要：针对可重构机械臂存在构型自适应及不确定性补偿等问题,提出了基于模糊逻辑的自适应增益滑模控制方法。首先设计了滑模控制器补偿动力学系统的模型不确定项及外部扰动项;其次考虑到恒定增益降低抖振的局限性,设计了模糊控制器自适应调整滑模增益;基于李雅普诺夫方法对所提出的构型自适应控制律的稳定性进行了证明;最后以可重构机械臂RPR和RRPR两种典型构型为例,分别进行恒定增益滑模控制和模糊自适应增益滑模控制对比研究,结果表明所提方法不仅能适应机械臂构型的改变,而且能有效补偿系统的不确定性及降低系统的抖振。此外,在其它控制参数不变的条件下,通过对构型自适应参数P的多组数据仿真分析,验证了优化区间内的构型自适应参数P值能进一步提高系统控制性能。For solving the adaptive problems of the configuration changes and the uncertain problems of the reeonfigurable manipulator, a control algorithm based on the fuzzy adaptive sliding mode control was presented. Firstly, a sliding mode controller was proposed for compensating the uncertain items including the modeling error and the external disturbances. Secondly, considering the limitations of reducing the chattering of the sliding mode control, a fuzzy adaptive controller was applied to adjust the sliding mode gain. Subsequently, the stability of the closed - loop system incorporating the configuration adaptive controller was derived and verified by means of the Lyapunov method. Finally, taking the RPR configuration and RRPR configuration with different degrees of freedom as the examples, the performance comparison between the sliding mode control with the invariant gain and the fuzzy adaptive sliding mode control was implemented. The substantial results demonstrate that the proposed control algorithm is effective, and it can not only quickly adapt to the robot configuration changes without adjusting any control parameters, but effectively compensate the uncertain items of different configurations and greatly reduce the chattering of the sliding mode control. In addition, based on the analysis of the control performance with the configuration adaptive control parameter P in the case of invariant controlling parameters, configuration adaptive control parameter P in the optimization interval can make further efforts to improve the performance of control system.

关 键 词：可重构机械臂 模糊滑模控制 滑模增益 构型自适应 补偿控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]