摘要
针对柔性关节机器人控制系统中存在的扰动力、摩擦力、参数变化以及建模误差等导致的控制器精度降低、鲁棒性差的问题,提出了1种基于自适应模糊滑模的鲁棒控制器。控制器由2部分组成,控制器的计算力矩和前馈补偿部分用于控制系统的标称部分,即机器人自身结构相关量、确定性扰动以及摩擦力的线性部分;控制器的自适应模糊滑模部分用于克服系统存在的不确定部分,包括外界不确定性扰动、摩擦力的非线性部分、参数变化以及建模误差等。最后在HIT四自由度柔性机械臂上进行了控制器的相关实验。实验结果表明该控制器具有良好的位置跟踪性能和较强的抗干扰能力。
Aimed at the problems of low control accuracy and weak robustness influenced by external disturbance force,friction force,parameter variation,modeling errors and other issues in flexible joint robot control system,a new structure robust controller based on adaptive fuzzy sliding mode control was proposed.The controller consists of two parts.The nominal section of the system including the parameter relative to robot structure,deterministic disturbance and the linear part of the friction force can be controlled effectively by computed torque and feed-forward compensation of controller.The other influence of the uncertainty such as the external uncertainty disturbance,nonlinear friction force,parameter variation,modeling error and so on can be eliminated by adaptive fuzzy sliding mode control controller.Finally,experiments relative to the controller were carried out on the arm of a HIT type four degree of freedom flexible manipulator.The results showed that the controller has a good position tracking performance and a strong anti-disturbance.
出处
《四川大学学报（工程科学版）》
EI
CAS
CSCD
北大核心
2011年第2期234-240,共7页
Journal of Sichuan University (Engineering Science Edition)
基金
国家"863"计划资助项目(2006AA04Z228)
教育部"111"创新引智计划资助项目(B07018)
关键词
柔性机械臂
自适应模糊滑模
非线性系统
不确定性扰动
flexible manipulators
adaptive fuzzy sliding mode control
nonlinear system
uncertainty disturbance
