摘要
针对二关节机器人轨迹跟踪问题,设计了一种新的反演自适应模糊滑模控制器。该方法设计了反演滑模控制器和自适应模糊控制器,通过设计合适的自适应律,采用模糊控制器在线估计不确定性上界值,实现了对建模误差和干扰的自动跟踪,削弱了抖振。利用李亚普诺夫定理证明了系统的稳定性。仿真结果表明该方法的有效性。
A new method of backstepping adaptive fuzzy sliding mode control for tracking control of multi-joint robot manipulators is introduced in this paper. A backstepping sliding mode controller and an adaptive fuzzy controller are designed. A proper law is used to adjust the fuzzy controller adaptively. Fuzzy control is applied to estimates upper bound of the mode errors and external disturbances by intergral automatically. So it reduces chattering and enhances precision. The system stability is proved by Lyapunov principle. Simulation results verify the validity of the control scheme.
出处
《电气自动化》
2011年第2期28-31,共4页
Electrical Automation
基金
福建省自然科学基金资助项目(2009J01257)
厦门市科技计划项目(3502Z20093027)
关键词
反演
滑模控制
模糊控制
抖振
切换函数
backstepping sliding mode control fuzzy control chattering switching function
