机械臂的分散模糊变结构跟踪控制

Decentralized Fuzzy Variable Structure Control for Manipulators

提出了一种适用于机械臂的分散模糊变结构轨迹跟踪控制方法．将机械臂的轨迹跟踪系统考虑为由线性子系统、非线性关联组成的不确定性复杂系统，采用分散控制方法进行控制器设计．所提出的控制方法能够保证系统状态有较高的跟踪精度．另外，通过在分散变结构控制系统中引入模糊控制规则减弱了一般变结构控制系统的颤振．控制算法简单可行，易于实现．数字仿真表明了该方法的有效性．

A decentralized fuzzy variable structure control is presented for trajectory tracking of robot manipulators. Considering the overall system as a set of linear subsystems with nonlinear uncertainties and interconnections, the tracking problem is tackled by decentralized control method. The proposed control approach enables the system states to track desired trajectories with high precision. Moreover, by using fuzzy control concept in variable structure system, the chattering problem which exists in most variable structure systems is subdued, and the system robustness to unmodelled uncertainties and external disturbances is improved. The approach is simple for real time implementation. Simulation results are presented to validate the conclusions.