变论域模糊补偿的机械臂积分终端滑模控制  

Integral terminal sliding mode control of manipulator based on variable universe fuzzy compensation

作　　者：李敏[1] LI Min(College of Electromechanical and Information Engineering,Wuxi Vocational Institute of Art&Technology,Yixing 214200,China)

机构地区：[1]无锡工艺职业技术学院机电与信息工程学院,宜兴214200

出　　处：《现代制造工程》2023年第7期37-44,105,共9页Modern Manufacturing Engineering

基　　金：2021年江苏省高等教育教改研究课题项目(2021JSJG413);2020年中国纺织工业联合会职业教育教学改革项目(2020ZJJGLX132)。

摘　　要：为了减小机械臂在环境扰动、参数漂移和建模误差等影响下的轨迹跟踪误差,设计了基于积分终端滑模和变论域模糊补偿的组合控制器。采用拉格朗日方程建立了机械臂系统的动力学模型,制定了不确定因素影响下机械臂跟踪控制方案;设计的积分终端滑模控制器可以将系统初始状态限制在滑模面上,消除了控制过程的抖振并提高了跟踪速度;提出了自适应论域策略,该策略可以提高补偿力矩的输出细粒度,并将变论域模糊算法用于不确定因素补偿。经实验验证,变论域模糊补偿控制对关节1角位置的最大跟踪误差为0.103 rad,误差绝对均值为0.025 rad,对关节2角位置的最大跟踪误差为0.073 rad,误差绝对均值为0.012 rad,跟踪控制精度高于模糊补偿控制、RBF-BP控制和自适应鲁棒控制,验证了变论域模糊补偿控制方法的有效性和先进性。In order to reduce the trajectory tracking error of manipulator under the environmental disturbance,parameters drift and modeling error,a combined controller based on integral terminal sliding mode and variable universe fuzzy compensation was designed.The dynamic model of the manipulator system was established by Lagrange equation,and the tracking control scheme of the manipulator under the uncertain factors was formulated.The designed integral terminal sliding mode controller can limit the system initial state to the sliding mode surface,which can eliminate chattering in control process and improve tracking speed.An adaptive universe strategy was proposed,which can improve the output granularity of the compensation torque,and the variable universe fuzzy algorithm was used to compensate the uncertainty factors.The experiment results show that the maximum tracking error of variable universe fuzzy compensation control for joint 1 angular position is 0.103 rad,the mean absolute deviation of that is 0.025 rad,and the maximum tracking error for joint 2 angular position is 0.073 rad,the mean absolute deviation of that is 0.012 rad.The accuracy of tracking control is higher than that of fuzzy compensation control,RBF-BP control and adaptive robust control,which verifies the effectiveness and the progressiveness of the variable universe fuzzy compensation control method.

关 键 词：机械臂控制 变论域模糊算法 积分终端滑模 参数漂移 输出细粒度 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]