非完整移动机械手鲁棒自适应模糊控制

Robust and Adaptive Fuzzy Control of Nonholonomic Mobile Manipulator

考虑系统存在的参数、外界扰动和未建模动态等不确定性,研究非完整移动机械手的鲁棒自适应控制器设计方法。基于用旋量理论建立的非完整移动机械手的动力学模型,设计了移动平台子系统的运动控制器,然后应用非线性反步控制技术和模糊逻辑系统的通用逼近性,用参数化线性模糊逻辑系统逼近非完整移动机械手动力学模型中的不确定项,基于Lyapunov稳定性理论设计了不确定非完整移动机械手的动力学鲁棒模糊控制器和模糊逻辑系统的参数自适应律。在适当的假设条件下,控制器不依赖于非完整移动机械手的动力学模型,放松了对斜对称性的要求。仿真结果表明,设计的控制器对参数和外界扰动等不确定性具有较强的鲁棒性和自适应性。

Considering the uncertainties of parameters,disturbances and unmodeled dynamics etc.in systems,a design methodology of robust and adaptive controller of nonholonomic mobile manipulator is researched.Based on the dynamics model of nonholonomic mobile manipulator built by using screws theory,the kinematic controller of motion platform subsystem is designed,then applying nonlinear backstepping control technology and universal approximability of fuzzy logic systems,making a parameterized linear fuzzy logic system approach the uncertainty items of dynamics model of nonholonomic mobile manipulator,the dynamics robust fuzzy controller of uncertainty nonholonomic mobile manipulator and the parameter adaptive laws of fuzzy logic systems are designed based on Lyapunov stability theory.On the condition of proper hypothesis,the controller doesn＇t depend on dynamics model of nonholonomic mobile manipulator and relaxes the request of skew symmetry.Simulation results indicate that the designed controller has strong robustness and adaptability to the uncertainties of parameters and disturbances etc.