一类多关节机器人系统的模糊滑模控制算法仿真

A Class of Fuzzy Sliding-mode Control Simulation for Multi-link Robot Manipulators

针对具有参数不确定性的多关节机器人动力学系统,提出了一种基于模糊逻辑的滑模控制方案。该方案采用模糊滑模跟踪控制设计,柔化了控制信号,减轻了一般滑模控制的抖振现象。利用李亚普诺夫定理证明了闭环模糊控制系统的稳定性和跟踪误差、控制信号的有界性。仿真结果表明了所提出的控制策略是有效的。

A new scheme of sliding-mode control system based on fuzzy logic is proposed for multi-joint rigid robot manipulators with uncertainties. By introducing fuzzy logic to the sliding mode control, the control signals could be softened so that the chattering phenomenon in a conventional sliding mode control system was alleviated .The stability of the fuzzy control system and the boundedness of the tracking error and control signals were ensured by Lyapunov method. At last, a two-link robot manipulatorwas stabilized by the design, and the simulation result verifies the validity of the control scheme.