一类多自由度欠驱动手臂机器人的控制策略

Control Strategy of a Class of Degrees-of-freedom Underactuated Arm-robot

针对多自由度欠驱动手臂机器人提出一种模糊逻辑控制、模糊变结构控制和线性二次调节控制相结合的控制策略。首先用模糊逻辑控制实现快速平滑地摇起 ,然后用模糊变结构控制确保从摇起区进入平衡区 。

A control strategy for a class of degrees of freedom underactuated arm robot was presented. It combines fuzzy logical control, fuzzy variable structure control strategy and linear quadratic control. First, a fuzzy logic control ensures smooth and fast swing up cntrol. Then, a fuzzy variable structure control is employed to ensure the acrobot is moved into the balance area from the swing up area. Finally, a linear quadratic regulator is applied to balance it.