具有输出约束的多机械臂系统模糊控制器设计  

Fuzzy controller design for multi-manipulator system with output constraints

作　　者：范永青 张占磊 FAN Yongqing;ZHANG Zhanlei(School of Automation,Xi’an University of Posts and Telecommunications,Xi’an 710121,China)

机构地区：[1]西安邮电大学自动化学院,陕西西安710121

出　　处：《西安邮电大学学报》2023年第4期83-95,共13页Journal of Xi’an University of Posts and Telecommunications

基　　金：国家自然科学基金项目(61903298,62003262);陕西省留学人员科技活动择优项目(35);陕西省自然科学基金项目(2022JM-389、2019JQ-341)。

摘　　要：针对多机械臂协作搬运同一个物体时的期望轨迹跟踪问题,设计一种带有非零时变参数的模糊自适应控制器。通过一个具有非零参数的模糊逻辑系统(Fuzzy Logic System,FLS)万能逼近原理补偿多机械臂在协调操作中的不确定性,为了提高逼近精度,利用积分障碍李雅普诺夫函数(Integral Barrier Lyapunov Function,IBLF)的稳定性条件,设计可自动更新的逼近误差。当系统状态超出FLS的逼近域时,通过滑模面建立的自适应律使系统状态重新进入FLS定义域内。仿真结果表明,在有限空间中多个机械臂协作将一个物体沿预期轨迹完成控制任务时,既可以避免违反输出限制,又可以使闭环系统全局稳定。A fuzzy adaptive controller with non-zero time-varying parameters is designed for the desired trajectory tracking problem when multi-manipulators collaborate to carry the same object.A universal approximation principle of a fuzzy logic system(FLS)with non-zero parameters is used to compensate for the uncertainty in the coordinated operation of multi-manipulators.In order to improve the approximation accuracy,an automatically updatable approximation error is designed using the stability condition of the integral barrier Lyapunov function(IBLF).When the system state is out of the approximation domain of the FLS,the adaptive law established by the sliding mode surface can bring the system state back into the FLS definition domain.Simulation results show that when multiple robotic arms collaborate to complete the control task of an object along the expected trajectory in a finite space,the output limit violation can be avoided,and the global stability of the closed-loop system can be guaranteed.

关 键 词：多机械臂 输出约束 自适应控制算法 模糊逻辑系统 积分障碍李雅普诺夫函数 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]