基于新型自适应模糊滑模的机械臂跟踪控制

Robotic Arm Tracking Control Based on Novel Adaptive Fuzzy Sliding Mode

为实现高精度机械臂跟踪控制,设计了一种自适应模糊滑模控制方法。新型的滑模面使系统应对外界干扰具备更好的鲁棒性。二型模糊控制既能逼近非模型动力学,又能逼近滑模控制的开关切换面。将自适应模糊和滑模相结合,并利用李雅普诺夫稳定性判据得到自适应律。通过MATLAB/SimuLink仿真,比较新型控制器和传统滑模控制在跟踪控制方面的差异。新型控制器有效地解决了机械臂的滑模抖振问题,提高了机械臂末端的跟踪控制精度。

In order to realize high-precision manipulator tracking control,an adaptive fuzzy sliding mode control method is designed.The new sliding surface makes the system more robust against external disturbances.Type 2 fuzzy control can approximate both the non-model dynamics and the switching surface of sliding mode control.Combining adaptive fuzzy and sliding mode,and using the Lyapunov stability criterion,the adaptive law is obtained.Through MATLAB/SimuLink simulation,the difference of tracking control of compared between the new controller and traditional sliding mode control.The new controller effectively solves the sliding mode chattering problem of the manipulator,and improves the tracking control accuracy of the end of the manipulator.