带有未知死区的机器人积分变结构模糊控制

Integral Variable Structure Fuzzy Control of Robot Manipulators with Unknown Dead-Zone

针对一类带有未知死区和外来干扰的不确定机器人系统,基于变结构控制原理,采用简化的死区输入模型,利用具有线性可调参数的模糊系统的逼近能力,提出了一种积分变结构自适应模糊控制方案。该方案取消了要求逼近误差平方可积的条件,同时利用Young's不等式减少了模糊系统调节参数的数目,从而降低了实现的复杂性。最后,利用Lyapunov综合方法证明了闭环系统是半全局一致终结有界的,并通过适当选取设计参数,跟踪误差收敛到零的一个邻域内。仿真结果表明了该方案的有效性与实用性。

Based on the principle of variable structure control and by use of the simplified dead-zone model and the approximation capability of fuzzy systems with linear adjustable parameters which are used to approximate unknown plant function,a novel integral variable structure adaptive fuzzy control strategy is proposed for a class of uncertain robot manipulator with unknown dead-zones and external disturbances.The approach does not require the optimal approximation error to be square-integrable.Meanwhile,by utilizing Young＇s inequality,the number of adjustable parameters in the fuzzy systems and the complexity of realization are reduced.Finally,by using the Lyapunov method,the closed-loop control system is proved to be semi-globally uniformly ultimately bounded,with the tracking errors converging to a small neighborhood of zero by appropriately choosing design constants.Simulation results show that the proposed approach is feasible and practical.