基于变论域模糊补偿的机械臂自适应控制  

Manipulator adaptive control based on variable universe fuzzy compensation

作　　者：陈引娟[1,2] 朱香将 李宗刚[1,2] 杜亚江[1,2] CHEN Yinjuan;ZHU Xiangjiang;LI Zonggang;DU Yajiang(College of Mechanical and Electrical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China;Robotics Institute,Lanzhou Jiaotong University,Lanzhou 730070,China)

机构地区：[1]兰州交通大学机电工程学院,甘肃兰州730070 [2]兰州交通大学机器人研究所,甘肃兰州730070

出　　处：《计算机集成制造系统》2023年第10期3306-3316,共11页Computer Integrated Manufacturing Systems

基　　金：国家自然科学基金资助项目(61663020);甘肃省高等学校科研项目成果转化资助项目(2018D-10);兰州交通大学“百名青年优秀人才培养计划”基金资助项目。

摘　　要：针对存在建模不确定性和外部干扰的机械臂系统,设计了一种结合标称计算力矩控制器和变论域模糊补偿器的复合控制方案,其中利用变论域自适应模糊控制器对建模不确定项进行估计和补偿,利用计算力矩控制器求解标称系统控制力矩。针对伸缩因子设计的自适应律使得变论域自适应模糊控制器在不同时刻适用于状态空间的不同区域,提高了系统的响应速度,大幅减小了系统的稳态跟踪误差,而且跟踪过程平稳柔顺、抖振极小,从而提升了系统的轨迹跟踪性能。仿真结果和实体试验结果均表明所提方法具有有效性。Considering the uncertainty of model and the external disturbance of manipulator systems,a compound control scheme was proposed by combining the variable universe fuzzy compensator with the calculation torque controller,in which the variable universe fuzzy controller was used to identify and compensate for uncertain items,the calculation torque controller was used to solve the nominal control torque.An adaptive law for expansion factor was designed such that the variable universe fuzzy compensator could adapt to different regions of state space as the time evolves and thus improved the convergence speed.Meanwhile,the tracking performance was effectively increased since the steady-state error was decreased extensively and the running process was smooth and flexible.The results of simulations and experiments illustrated the validity of the proposed methods together.

关 键 词：机械臂 轨迹跟踪 变论域模糊控制 自适应控制 计算力矩控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]