基于自适应模糊滑模控制的机器人轨迹跟踪算法

Trajectory tracking algorithm for robot based on adaptive fuzzy sliding mode control

针对控制参数的不确定性以及存在未知外部扰动情况下移动机器人的轨迹跟踪问题,提出一种基于光滑非线性饱和函数的自适应模糊滑模轨迹跟踪控制算法。通过建立不确定非线性移动机器人运动控制模型,利用自适应模糊逻辑系统构建自适应模糊滑模控制器。为了增强轨迹跟踪控制算法对随机不确定外部扰动适应能力的同时削弱滑模控制算法中的输入抖振现象,利用有界输入有界输出(BIBO)稳定的方法,通过带有自适应调节算法的模糊系统对滑模控制律中非线性函数项进行自适应逼近,并设计了模糊系统中可调参数的自适应控制律,保证了控制系统的稳定与收敛。实验结果表明,所设计的控制器对系统参数不确定性和外界扰动均具有较强的轨迹跟踪性能和鲁棒性。与传统的滑模控制算法相比,该算法不仅能有效减小输入抖振而且轨迹跟踪控制精度提高了18.89%。

Aiming at the trajectory tracking of mobile robot with control parameter uncertainties and external disturbances, a trajectory tracking control algorithm based on smooth nonlinear saturation function adaptive fuzzy sliding mode is presented.The uncertain nonlinear motion control model of mobile robot is established using the adaptive fuzzy logic system constructed adaptive fuzzy sliding mode controller.Using the method of BIBO stability through the adaptive algorithm of fuzzy system for sliding mode control law in nonlinear function is adjusted by using adaptive approximation, therefore the adaptability of trajectory tracking control algorithm for stochastic uncertainty external disturbance is enhanced and the input chattering in sliding mode control algorithm is weakened.The stability and convergence of the control system are proven by using set up the fuzzy system adjustable parameter adaptive control law.The experimental results show that the adaptive fuzzy sliding mode controller is robust to parameter uncertainties and external disturbances.Compared with the traditional sliding mode control, the trajectory tracking algorithm not only can effectively reduce input chattering and tracking control precision is improved by 18.89%.