考虑间隙特性的双机械臂模糊自适应鲁棒控制

Fuzzy adaptive robust control of dual manipulators considering backlash feature

为了克服间隙特性和未知扰动对双机械臂系统抓取物体性能的影响,设计了模糊自适应鲁棒控制律。首先建立了双机械臂系统数学模型和间隙特性模型,然后引入自适应律来估计未知扰动,利用模糊系统来估计系统模型参数,同时设计了自适应间隙逆模型来补偿间隙特性,并对系统进行了稳定性分析,最后实现了考虑间隙特性的双机械臂系统精确控制。仿真结果表明,设计的控制方法具有更好的快速性和准确性,能够确保物体在0.5 s内稳定跟踪轨迹指令,最大跟踪误差仅为0.5 cm;设计的自适应律能够快速准确估计未知扰动,最大估计误差仅为0.3 N·m,估计精度较高。

In order to overcome the influence of backlash feature and unknown disturbance on the grasping performance of dual manipulators system,a fuzzy adaptive robust control law was designed.Firstly,the mathematical model and backlash feature model of the dual manipulators system were established.Then,the adaptive law was introduced to estimate the unknown disturbance,and the fuzzy system was used to estimate the system model parameters.Meanwhile,the adaptive backlash inverse model was designed to compensate the backlash feature,and the stability of the system was analyzed.Finally,the accurate control of the dual manipulators system considering the backlash feature was realized.The simulation results show that the designed control method has better rapidity and accuracy,and can ensure the object track the trajectory command stably within 0.5 s,the maximum tracking error is only 0.5 cm.The designed adaptive law can estimate the unknown disturbance quickly and accurately,and the maximum estimation error is only 0.3 N·m,which has high estimation accuracy.