基于电压控制策略的多关节机械臂的自适应模糊跟踪控制

Adaptive fuzzy tracking control of multi-joint manipulators based on voltage control strategy

文中基于电压控制策略研究了一类机械臂的分散自适应模糊控制器的设计方案,并开发了一种新颖的模糊逼近误差补偿器。机械臂的渐近跟踪性能是通过自适应补偿模糊逼近误差来实现的。文中提出的控制器简化了机械臂的复杂控制程序,并且独立于数学模型,所提出控制器的渐近稳定性已通过Barbalat’s引理证明。采用该控制方法在永磁直流电机驱动的双关节机械臂上进行了仿真。仿真结果表明:文中提出的控制方法在跟踪期望轨迹方面具有良好的跟踪性能。

In this article,based on the voltage control strategy,efforts are made to explore the design scheme of the decentralized adaptive fuzzy controller for some manipulators,and develop a novel fuzzy approximation error compensator.The manipulator's asymptotic tracking performance is achieved by adaptively compensating for the fuzzy approximation error.This controller simplifies the manipulator's complex control procedure and is independent of the mathematical model.The controller's asymptotic stability is guaranteed and proven by means of the Barbalat's lemma.With the help of this controlling method,simulation is carried out on the double-joint manipulator driven by the permanent magnet DC motor.The simulation results show that the controlling method has good performance in tracking the required trajectory.