摘要
针对不确定的气动位置伺服系统的跟踪控制问题,提出了一种基于神经网络的模糊滑模控制策略。该控制器用于控制气动伺服关节机器人,仿真结果表明该控制器对系统的不确定性具有较强的鲁棒性,并且具有良好的跟踪性能。
Aimed at the tracking control problem of uncertain pneumatic position servo-system, a design scheme of sliding mode controller based on fuzzy neural network was presented. The controller was used in pneumatic servo joint-robot. Simulation result shows that the proposed approach has good tracking performance and robustness.
出处
《机床与液压》
北大核心
2008年第5期58-60,64,共4页
Machine Tool & Hydraulics
关键词
不确定性
智能控制
滑模控制
气动关节机器人
Uncertainness
Intelligent control
Sliding mode control
Pneumatic joint-robot
