摘要
对走钢丝机器人姿态的模糊滑模控制问题进行了研究。在静力学分析的基础上,利用拉格朗日方法建立了走钢丝机器人的动力学模型,为克服模型的强非线性和模型参数难以测量等实际难题,基于合理的假设,简化出适合于模糊滑模控制技术的系统模型,并根据所建立的模型设计了模糊滑模控制器。MATLAB仿真表明,所提出的控制策略有较好的跟踪效果。为了进一步验证控制策略的可行性,进行了实物样机的实验验证,实验和仿真结果基本吻合。
In this paper, the problems of fuzzy sliding mode control about tightrope walker robot attitude were studied. The Lagrange method was applied to establish the model of tightrope walker robot on the base of static analy sis. In order to overcome the problems such as strong nonlinearity and difficulty of model parameters measuring, this paper simplified the system model to suit for fuzzy sliding mode control technology based on the reasonable assumption and designed the fuzzy sliding mode controller. The MATLAB simulation shows that the proposed control strategy has good follow effect. In order to further validate the feasibility of control strategy, the controller was verified on physical prototype, the results of experiment and simulation are basically matched.
出处
《计算机仿真》
CSCD
北大核心
2014年第4期394-397,434,共5页
Computer Simulation
基金
国家重点基础研究发展计划(973项目:2012CB8212002012CB821201)
国家自然科学基金(61134005
61221061
61327807)
