摘要
A fuzzy adaptive control method is proposed for a flexible robot manipulator. Due to the structure characteristics of the flexible manipulator, the vibration modes must be controlled to realize the high-precision tip position. The Lagrangian principle is utilized to model the dynamic function of the single-degree flexible manipulator incorporating the assumed modes method. Simulation results of the fuzzy adaptive control method in the location control and the trajectory tracking with different tip disturbances are presented and compared with the results of the classic PD control. It shows that the controller can obtain the stable and robust performance.
提出了一种用于柔性机器人操作臂控制的模糊自适应控制策略。由于柔性臂的结构特点 ,在进行其操作臂的控制研究时 ,必须考虑系统的振动特性才能达到末端的高精度控制。本文将拉格朗日法和假设模态法相结合 ,建立了单自由度柔性臂系统的动力学方程 ,提出了一种模糊自适应控制策略。在柔性操作臂末端带有不同载荷的情况下 ,分两种类型进行了控制仿真实验 :定位控制和轨迹跟踪控制。仿真结果与传统的 PD控制仿真实验结果相比较 ,表明模糊自适应控制器在轨迹跟踪和系统的振动抑制方面反映出更好的稳定性和鲁棒性 。
基金
国家自然科学基金 ( 5 0 3 75 0 71 )资助项目
江苏省自然科学基金 ( BK2 0 0 3 0 91 )资助项目~~
