基于双模糊滑模控制的机器人运动轨迹跟踪误差仿真

Simulation research on trajectorytrackingerror of robot based on double fuzzysliding mode control

当前,机器人运动轨迹在受到外界干扰因素情况下,不仅控制精度较低,而且抖动现象较为严重,不能很好地实现轨迹的跟踪任务.对此,创建了双关节机器人简图模型,采用双模糊滑模控制机器人的运动轨迹.推导了等效控制和切换控制组成的双模糊滑模控制方程式,根据模糊规则对切换增益系数进行在线补偿,引用李雅普诺夫函数对控制系统的稳定性进行了证明.通过具体实例,借助于Matlab软件对机器人运动轨迹的跟踪误差进行仿真.同时,与单模糊滑模控制方法进行对比和分析.仿真结果显示,机器人采用双模糊滑模控制方法,实际运动轨迹与期望运动轨迹误差较小,输入转矩的波动幅度较小.机器人末端执行器采用双模糊滑模控制方法,提高了运动轨迹的控制精度,改善了抖动现象.

At present,the trajectory of the robot is not only the control precision is low,but also the jitter phenomenon is serious,can not realize the trajectory tracking task well under the circumstance of external interference.In this paper,a double-robot model is built,and the motion trajectory of the robot is controlled by double fuzzy sliding mode.The dual fuzzy sliding mode control equations of equivalent control and switching control are deduced and the switching gain coefficients are compensated on the basis of fuzzy rules.The stability of the control system is proved by using Lyapunov function.The tracking error of robot motion trajectory is simulated by Matlab software.At the same time,compared with the single fuzzy sliding mode control method.Simulation results show that the robot adopts double fuzzy sliding mode control method,the actual trajectory and the expected trajectory error is small,the fluctuation range of the input torque is small.Robot end effector adopts double fuzzy sliding mode control method to improve the control precision of motion trajectory and improve the jitter phenomenon.