基于饱和函数的不确定机器人模糊自适应滑模控制

Fuzzy Adaptive Sliding Mode Control for Trajectory Tracking of Uncertain Robot Based on Saturated Function

针对模型和参数不确定机器人系统轨迹跟踪问题,在模糊自适应控制的基础上提出了一种新的控制策略,该控制策略把饱和函数、模糊原理与滑模控制有机结合起来,设计了一种模糊自适应滑模控制器。该控制器利用模糊逻辑系统为机器人的动力学系统建模,设计自适应律调节未知参数,为保证控制力矩输出平滑有界,不存在一般滑模变结构中的抖振现象,采用双曲正切函数代替传统的符号函数。利用李亚普诺夫定理证明了闭环控制系统全局稳定,跟踪误差渐近收敛于零。仿真结果表明了所提出的控制算法的有效性。

A new control strategy was proposed for robotic manipulators that the model and parameter are uncertainties, The control scheme combines the fuzzy theory and the sliding mode control with saturated function to design a fuzzy adaptive sliding mode controller based on saturated function. The controller uses fuzzy logic system to establish the model, and regulates the parameters by designing adaptive law. The control algorithm uses the saturated function instead of the symbols function to make the control smoothed and bounded, having no tremor phenomenon. The stability of the control system is ensured by Lyapunov method. The tracking error converges to zero. The simulation results verify the effectiveness of the proposed algorithm.