摘要
为把已有的模糊控制算法应用于多自由度机器人的实时控制中,将间接自适应模糊控制算法从单输入单输出(SISO)系统推广至多输入多输出(MIMO)系统,并给出了系统收敛的严格数学证明.另外对于n关节的机器人轨迹跟踪问题,设计了一种新型控制器能够保证系统的最终一致有界性(u.u.b.).通过对具有远程独立电机驱动的双连杆机械臂的仿真试验证明了该方案的可行性.
In order to apply the existing fuzzy control algorithm to real time control of multi-DOF robot manipulator,the (original) indirect adaptive fuzzy control algorithm was extended from the SISO case to the MIMO case,a strict mathematical description for each step was gave and its convergence was proved.The constructed controller was further shown to have the property of uniform ultimate boundedness (u.u.b.) and adopted for the control application of an n-link robot manipulator trajectory tracking.Simulated results with a 2-link revolute joint arm with remotely driven link were presented to demonstrate its feasibility.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2004年第5期748-756,764,共10页
Control Theory & Applications
基金
supportedbytheGuangdongProvincialNaturalScienceFoundationofChina ( 0 1162 6) .
