考虑输入死区的柔性机械臂随机系统指令滤波模糊控制  

Command Filtering Fuzzy Control for Stochastic System of Flexible Joint Manipulators with Dead-Zone Input

作　　者：董元宝 刘加朋 于金鹏[1,2] 宿俊浩 林崇 DONG Yuanbao;LIU Jiapeng;YU Jinpeng;SU Junhao;LIN Chong(School of Automation,Qingdao University,Qingdao 266071;Shandong Key Laboratory of Industrial Control,Qingdao 266071)

机构地区：[1]青岛大学自动化学院,青岛266071 [2]山东省工业控制技术重点实验室,青岛266071

出　　处：《系统科学与数学》2024年第10期2881-2894,共14页Journal of Systems Science and Mathematical Sciences

基　　金：国家自然基金项目(62473220);教育“长江学者奖励计划”特聘教授项目(T2022265);泰山学者工程专项经费(TSTP20221120);山东省重点研发计划(2022CXGC020901)资助课题。

摘　　要：针对具有输入死区的柔性关节机械臂随机系统,提出了一种基于指令滤波技术的模糊自适应控制方法,实现了系统输出对期望轨迹的跟踪控制.首先,利用指令滤波技术解决了传统反步法固有的“计算复杂性”问题,引入误差补偿机制消除了滤波误差对系统控制精度的影响.然后,用模糊逻辑系统处理系统中的不确定项和随机扰动,克服了随机扰动的影响,改善了系统的控制效果.最后,考虑系统具有输入死区的情况,通过反步控制方法构造了控制信号,克服了输入死区对系统性能的不利影响.稳定性分析证明了所提出控制策略在具有输入死区的柔性关节机械臂随机系统中的有效性,并用Matlab仿真加以验证.A fuzzy adaptive control method based on command filtering technology is proposed for a stochastic system of flexible joint manipulators with dead-zone input,which achieves tracking control of the system output on the expected trajectory.Firstly,command filtering technology is used to solve the problem of"explosion of complexity"inherent in the traditional backstepping method,and error compensation mechanism is introduced to eliminate the influence of filtering errors on the system control precision.Then,a fuzzy logic system is utilized to deal with uncertainties and stochastic disturbances in the system,which overcomes the influence of stochastic disturbances and improves the control effect of the system.Finally,considering the system with dead-zone input,the control signal is constructed by backstepping control method,which conquers the adverse impact of dead-zone input on system performance.In the stability analysis,the effectiveness of the control strategy studied in the stochastic system of flexible joint manipulators with dead-zone input is proved,and it is verified by Matlab simulation.

关 键 词：柔性关节机械臂 指令滤波 模糊自适应控制 死区输入 随机扰动 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]