具有模糊二次补偿的柔性臂滑模控制研究

Sliding Mode Control with Additional Fuzzy Compensations of for a Flexible Manipulator

提出了一种新双连杆柔性臂机器人位置控制算法 ,其特点是根据系统的滑模条件是否满足和关节角误差变化趋势对由柔性臂刚性模态求得的滑模控制实行二次模糊修正 ,以使系统趋于滑模面和误差收敛。通过将模糊修正规则定义为事件该系统便成为典型的离散事件系统 ,借助自动机和监督控制理论分析了该系统的稳定性 ,将控制律在包含柔性模态的完整模型上进行计算机仿真证明了算法的有效性。

A novel position control algorithm for a two-link flexible manipulator is propos ed. The feature of the proposed algorithm is to provide two additional increment s in the sliding mode control law, which is derived from the rigid dynamics of f lexible manipulators. The increments are determined upon the status of whether t he sliding mode conditions are met or on the trends of angular errors convergen ce to zeros. By defining the adding of increments as an event, the closed-loop s ystem can be dealt with as a discrete event one. Then, the stability of the syst em is analyzed as an automat with the supervisory control theory. Simulations re sults show that the control gives satisfactory results.