基于操作空间的机械臂自适应模糊鲁棒控制

Adaptive Fuzzy Robust Control for Manipulator Based on Operational Space

为提高动力学模型不确定的机械臂系统的跟踪精度,提出了一种基于操作空间的自适应模糊的鲁棒轨迹跟踪控制方法。考虑存在未知的外部扰动和其他未建模动态,引入GL(General Linear)矩阵及其乘法算子,利用模糊系统逼近任意非线性函数的能力对机械臂动力学进行前馈补偿,通过鲁棒控制项抑制建模误差和有界扰动。该方法无需求解机械臂在操作空间的动力学模型。根据Lyapunov稳定性理论证明了系统的稳定性,并通过仿真实验验证了所设计控制器能达到较好的轨迹跟踪效果。

In order to improve the manipulator system whose mechanical model of tracking precision is uncertain, a robust trajectory tracking control method, which is self-adaptive and based on an operational space, was researched. And taking into account the presence of unknown external disturbances and other non-modeled dynamics, GL （General Linear） matrix and its multiplication operator were introduced and the ability of fuzzy systems was applied to approximate any nonlinear function which could render feedforward compensation to the manipulator dynamics. Modeling errors and bounded disturbances were inhibited through robust controls. This method does not need to solve the dynamic model when manipulator is in the operational space. According to Lyapunov stability theory, the stability of the system was proved. Finally, a relatively high effect of trajectory tracking control was ascertained by the simulation experiment on the designed controller.