基于模糊观测器的柔性机械臂指令滤波反步控制  

Command Filtering Backstepping Control of Flexible-joint Manipulator Based on Fuzzy Observer

作　　者：宿俊浩 于金鹏[1] 刘加朋 朱钰 司晨怡 SU Junhao;YU Jinpeng;LIU Jiapeng;ZHU Yu;SI Chenyi(College of Automation,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学自动化学院,山东青岛266071

出　　处：《控制工程》2025年第3期500-507,共8页Control Engineering of China

基　　金：长江学者奖励计划项目(T2022265);国家自然科学基金联合基金资助项目(U24A20262);国家自然科学基金面上项目(62473220,62303255);山东省高校青年创新团队计划项目(2023KJ222);山东省重大科技创新工程项目(2022CXGC020901);泰山学者专项基金资助项目(TSTP20221120)。

摘　　要：针对模型参数未知的柔性关节机械臂系统,利用指令滤波及模糊观测器技术,提出了指令滤波模糊控制策略,实现了对该系统期望轨迹的跟踪控制。首先,设计模糊观测器来估计柔性机械臂的连杆角速度和电机转角速度;其次,利用模糊自适应技术来解决模型参数的不确定性;然后,应用指令滤波技术解决了控制器设计过程中的计算复杂性问题,并通过李雅普诺夫控制原理证明了该柔性关节机械臂控制系统中所有变量的收敛性;最后,利用仿真实验验证了所提方法在柔性关节机械臂控制中的有效性。For the flexible joint manipulator system with unknown model parameters,a fuzzy control strategy of command filtering is proposed.Using command filtering and fuzzy observer method,the tacking control of the system desired trajectory is realized.Firstly,a fuzzy observer is designed to estimate the link angular velocity and the motor angular velocity of the flexible manipulator.Secondly,fuzzy adaptive technical is used to solve the uncertainty of model parameters.At the same time,the problem of the computational complexity in controller design is solved by using command filtering method.The convergence of all variables in the flexible manipulator control system is proved by Lyapunov control principle.Finally,the effectiveness of the proposed method in flexible joint manipulator control is verified by simulation.

关 键 词：柔性关节机械臂 指令滤波 模糊观测器 自适应控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]