基于模糊自适应滑模算法的多机械臂力/位混合控制  

Force/Position Hybrid Control of Multi-manipulator Based on Fuzzy Adaptive Sliding Mode Algorithm

作　　者：朱志浩 李蔚 高直 郭毓[3] 马凯辉 林晖 ZHU Zhihao;LI Wei;GAO Zhi;GUO Yu;MA Kaihui;LIN Hui(School of Electrical Engineering,Yancheng Institute of Technology,Yancheng 224051,China;School of Information Engineering,Yancheng Institute of Technology,Yancheng 224051,China;School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]盐城工学院电气工程学院,盐城224051 [2]盐城工学院信息工程学院,盐城224051 [3]南京理工大学自动化学院,南京210094

出　　处：《集成技术》2023年第3期72-81,共10页Journal of Integration Technology

基　　金：国家自然科学基金项目(61973167);盐城工学院校级科研项目(xjr2020041);江苏省产学研合作项目(BY2022495);教育部产学合作协同育人项目(22097110113736)。

摘　　要：针对多机械臂力/位混合控制受摩擦力等不确定因素影响的问题,该文提出了一种基于模糊自适应鲁棒滑模算法的控制方法。首先,根据机械臂及物体的动力学方程,构建多机械臂系统模型,并将模糊算法与自适应滑模算法相结合;然后,对不确定因素及未知非线性项进行补偿,利用鲁棒算法对系统可靠性进行提升;最后,基于李雅普诺夫方法,证明了该系统的稳定性。仿真结果显示,该方法可显著提升控制器的控制精度和系统响应速度。Subject to the friction and other uncertain factors,the multi-manipulator force&position hybrid controlling method is still a challenging issue.To investigate this problem,this paper proposes a hybrid control method based on fuzzy adaptive robust sliding mode algorithm.Firstly,the multi-manipulator system model is constructed with consideration of both multi-manipulator and the object dynamics equations.Secondly,the fuzzy algorithm is combined with the adaptive sliding mode algorithm to compensate for uncertain factors and unknown nonlinear terms,so as to improve the system reliability.Simulation results showed that,both controlling accuracy and responding time of the system can be improved by the proposed method.

关 键 词：多机械臂 力/位混合控制 模糊自适应控制 滑模控制 鲁棒控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]