未建模多机械臂的模糊自适应控制方法  

Fuzzy adaptive control method for unmodeled multiple manipulators

作　　者：范永青 杨林 FAN Yongqing;YANG Lin(School of Automation,Xi’an University of Posts and Telecommunications,Xi’an 710121,China;Intelligent Fault Diagnosis and System Control Laboratory,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 [2]智能故障诊断与系统控制实验室,陕西西安710121

出　　处：《西安邮电大学学报》2024年第4期100-110,共11页Journal of Xi’an University of Posts and Telecommunications

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

摘　　要：为了提高未建模多机械臂抓取同一物体的轨迹跟踪精度,提出一种未建模多机械臂的模糊自适应控制方法。该方法通过齐次函数计算出T-S(Takagi-Sugeno)型模糊逻辑系统(Fuzzy Logic System,FLS)的后件系数,以T-S-FLS为主体,在传统FLS的设计上加入一个可自动更新逼近精度的非零参数。利用万能逼近定理,完成对不确定项的逼近任务,添加滑模面系统保证所提方法可以摆脱有限逼近域的限制条件,并通过李雅普诺夫函数理论对其稳定性进行分析。仿真结果表明,该方法可以保证系统的跟踪性能,且在闭环系统中所有信号均一致最终有界(Uniformly Ultimately Bounded,UUB),能够提高未建模多机械臂抓取同一物体的轨迹跟踪精度。In order to improve the trajectory tracking accuracy of unmodeled multiple manipulators grasping the same object,a fuzzy adaptive control method of unmodeled multiple manipulators is proposed.This method calculates the coefficient of the latter part of T-S(Takagi-Sugeno)fuzzy logic system(FLS)by homogeneous function.Taking T-S FLS as the main body,a non-zero parameter which can automatically update the approximation precision is added to the traditional FLS design.By using the universal approximation theory,the task of approximating the uncertain term is completed,and the sliding mode surface system is added to ensure that the proposed method can get rid of the constraints of the finite approximation domain.The Lyapunov function theory is adopted to analyze its stability.Simulation results show that this method can guarantee the tracking performance of the system,and all signals in the closed-loop system are uniformly ultimately bounded(UUB),which can improve the tracking accuracy of the same object captured by unmodeled multiple manipulators.

关 键 词：多机械臂 齐次函数 T-S型模糊逻辑系统 李雅普诺夫函数 自适应控制 万能逼近理论 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]