摘要
为解决机器人跟踪控制过程中采用PID控制算法会出现抖动和误差的问题,提出了一种机器人全局PID模糊滑模跟踪控制算法。通过将PID滑模控制和模糊控制相结合,设计了全局PID模糊滑模控制;基于模糊规则,对滑模控制增益进行自适应调整,从而消除建模误差和干扰,削弱了控制时产生的抖振,在线调整控制器参数和估计误差,并通过积分来消除外界干扰,因此提高了控制精度。仿真结果表明,与常规的PID算法相比,该方法在处理控制抖动和消除误差以及干扰方面具有极高的鲁棒性。
To solve the shaking and errors occurred in PID control algorithm during tracking control process to robots,an overall PID fuzzy sliding mode control algorithm for robots is proposed.By combination of PID sliding mode control with fuzzy control,the overall PID fuzzy sliding mode control is designed.Based on fuzzy rule,the sliding mode control gain is adjusted adaptively to ekminate modeling errors and disturbance,and to weaken the shaking occurred in control.By adjusting the controller parameters and estimation errors,and eliminating the surrounding disturbance by integration,the control accuracy is improved.The simulation results show that compared with common PID algorithm,this method has good robustness in shaking control and error and disturbance elimination.
出处
《测控技术》
CSCD
2015年第9期65-68,共4页
Measurement & Control Technology
基金
河南省教育厅科学技术研究重点项目(12B470002
14A470004)
河南省控制工程重点学科开放实验室资助项目(KG2011-15)
河南理工大学青年基金(Q2012-28)
关键词
抖动
模糊控制
自适应
切换功能
鲁棒性
shaking
fuzzy control
adaptive
switching function
robustness
