摘要
本文提出一种高效能的模糊控制方案，来提高机器人当存在摩擦力和负载等不确定因素时以及动力学参数变化时的系统响应特性．该控制方案是由一个模糊逻辑（ＦＬ）控制器（主控制器）和一个传统的微分（Ｄ）控制器（辅助控制器）所构成．ＦＬ控制器用来提高系统的瞬态特性和稳态精度，Ｄ控制器用来保证系统的稳定性．在这一控制方案基础上，获得理想控制特性的主要思想是研究和调整语言变量的隶属度函数．模拟结果表明了这一控制方案的有效性和鲁棒性．此外，这一控制方案具有结构简单且易于实现的优点．
In this paper and effective fuzzy control scheme for robots is presented to improve the control performance of robot systems in the presence of friction and load changes as well as geometric parameters changes of dynamics. This scheme consists of a fuzzy logic (FL) controller, which is used as a main controller to ensure desired transient and steady-state behaviors, and a conventional derivative (D) controller, which is used as an auxiliary controller to stabilize the system. On the basis of this scheme, the main idea of achieving a desired control performance is to investigate the membership functions of linguistic variables. Simulation results demonstrated the effectiveness and robustness of the proposed fuzzy control scheme.Besides,the scheme is quite simple in structure and can be easily implemented.
出处
《自动化学报》
EI
CSCD
北大核心
1995年第4期400-409,共10页
Acta Automatica Sinica
基金
国家智能技术与系统重点实验室基金
关键词
模糊控制
机器人
非线性
Fuzzy control
robots
nonlinear systems
