摘要
由于全局滑模控制方法对控制过程具有全程鲁棒性,因此这种方法常用于消除摩擦迟滞现象。但在传统方法的控制函数中,用于补偿摩擦迟滞的增益只取了上界,这样容易使输入力矩产生抖振现象。通过模糊控制自适应调节切换增益的值,对于减小抖振现象有很好的效果。将此算法应用到机器人动力学模型中进行仿真验证,仿真结果证明了该方法的可行性。
The Global Sliding mode has Robust Features in the whole control process, so it is used to eliminate the friction. But the gain in the controller just takes the upper limit, so it can cause the chattering. A new method based on fuzzy controllor is applied to reduce the chattering. Simulation and experimental results in the Robot＇s friction system show that the proposed method can reduce chattering effectively.
出处
《沈阳理工大学学报》
CAS
2015年第4期71-74,共4页
Journal of Shenyang Ligong University
关键词
全局滑模
模糊控制
抖振
global sliding
fuzzy controllor
chattering
