具有输出约束的多柔性机械臂的模糊自适应一致性控制

Fuzzy Adaptive Consensus Control for Multiple Flexible Manipulators with Output Constraints

本文研究具有输出约束的多柔性机械臂的一致性控制问题。利用模糊逻辑系统在线辨识柔性机械臂的未知动态;在部分柔性机械臂获取领导者信息的情况下,将反步法与模糊自适应控制相结合,并运用正切类型的障碍李雅普诺夫函数处理柔性机械臂的输出约束问题,设计了模糊自适应一致性控制算法。根据李雅普诺夫稳定性理论,证明了闭环系统所有信号一致最终有界,所有具有约束的柔性机械臂能够跟踪领导者且跟踪误差收敛到原点的极小邻域内。最后,通过计算机仿真,验证了所提模糊自适应一致性控制算法的有效性。

In this paper,the consensus constrol problem of multiple flexible manipulators with output constraints is studied.The fuzzy logic systems are utilized to identify the unknown dynamics of the flexible manipulator.Under the condition that only apart of the followers can obtain the leader’s information,a fuzzy adaptive consensus control algorithm is designed by combining the backstepping and fuzzy adaptive control technique,and the output constraint problem is solved by the tangent barrier Lyapunov function approach.Based on Lyapunov stability theory,it is proved that all signals of the closed-loop system are uniformly ultimately bounded,and all the multiple flexible manipulators considering output constraints can track the leader with the tracking error converging to the minimum neighborhood of the origin.Finally,the effectiveness of the proposed fuzzy adaptive fuzzy consensus control algorithm is verified by computer simulation.