摘要
为了实现双拇指手位置的精确控制,将模糊控制和滑动模态控制相结合,建立手指关节的状态方程,通过模糊控制规则确定滑动模态控制量,减小了滑模控制器的颤抖。仿真结果表明模糊滑动模态控制不仅可以抑制抖动而且具有良好的性能。
In order to realize the accurately controlled position of a dual-thumb hand,we combine the fuzzy control with sliding modelled control to establish a state equation of finger joint.Then,we determine the amount of sliding modelled control based on the fuzzy control rules,to achieve the reduced chattering.As a result,the fuzzy sliding modelled control can get not only the fine performance,but also suppress jitter.
出处
《辽宁科技学院学报》
2011年第4期20-22,共3页
Journal of Liaoning Institute of Science and Technology
关键词
双拇指手
模糊滑动模态控制
抑制抖动
Dual-thumb hand
Fuzzy sliding modelled control
Alleviation chattering
