欠驱动平面机械手自适应模糊滑模控制(英文)

Adaptive Fuzzy Sliding Mode Control for Underactuated Planar Manipulator

采用自适应模糊滑模控制策略来实现欠驱动平面机械手的位置控制。定义滑模面为模糊输入,减少了模糊规则数量,模糊输出为通过自适应律在线调整幅值的单值函数,利用李亚普诺夫稳定性理论推导出自适应调整律,保证了系统的稳定性。提出的控制器由一个模糊滑模控制器和一个辅助控制器构成,模糊滑模控制器用来实现与滑模控制相等的控制律,辅助控制器用来补偿两者的差值,仿真结果表明了提出控制器的有效性和可行性。

An adaptive fuzzy sliding-mode （AFSM） control strategy is presented to achieve position control of underactuated manipulators. Sliding surface is defined as input variable of fuzzy rules and fuzzy output is singleton, which value is adjusted by an adaptive law on-line in this method. The tuning algorithms are derived in the sense of the Lyapunov stability theorem, thus the stability of the system can be guaranteed. The controller presented is comprised of a fuzzy sliding-mode controller and an auxiliary controller. Fuzzy sliding-mode controller is developed to mimic an equivalent control law in the sliding-mode control, and an auxiliary controller is designed to compensate approximate error between the equivalent control law and the fuzzy controller. Simulation results indicate the validity and feasibility of the proposed algorithm.