基于死区补偿的空间机械臂积分变结构模糊控制  

Integral Variable Structure Fuzzy Control for the Space Manipulator Based on Dead-zone Compensation

作　　者：黄小琴 HUANG Xiaoqin(College of Physics and Electronic Information Engineering, Minjiang University, Fuzhou, Fujian 350108, China)

机构地区：[1]闽江学院物理与电子信息工程学院,福建福州350108

出　　处：《闽江学院学报》2020年第5期32-38,共7页Journal of Minjiang University

基　　金：闽江学院人才引进项目(MJY20020)。

摘　　要：以基座姿态、位置均不受控的漂浮基空间机械臂系统为研究对象,讨论了系统存有未知死区和外部干扰时的控制问题。引入线性化的死区模型和积分型的切换函数,应用模糊逻辑函数的非线性近似特性,在此基础上,提出了积分变结构模糊自适应的控制方法。该方案可以实现死区补偿,减小外部扰动的稳态误差,使臂杆两关节协调地完成期望运动。稳定性理论证明了闭环系统是半全局一致终结有界的。仿真验证了控制方案的有效性。The control of a free-flying space manipulator system with unknown dead-zone and external interference is discussed.A linearized dead-zone model and the integral type switching function are used by utilizing the nonlinear approximation characteristic of fuzzy logic function.On these foundations,an integral variable structure adaptive fuzzy control is proposed.This scheme can realize dead-zone compensate and reduce the steady state error caused by external disturbance,with making the two joints of the manipulators complete the desired trajectory tracking.The stability theory shows that the closed-loop control system is semi-globally uniformly ultimately bounded.The simulation results proved the efficiency of the control method.

关 键 词：死区 积分变结构模糊控制 空间机械臂 模糊基函数 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]