带输入死区的机器人自适应模糊补偿控制研究

针对带有输入死区的不确定非线性机器人系统,该文设计1种自适应模糊补偿控制方法,用于提升机器人的控制精度。引入辅助系统以减弱输入死区现象给系统造成的干扰。此外,利用模糊逻辑系统处理系统的不确定部分。在传统的模糊逻辑系统中,为便于处理,逼近误差往往被人为定义为1个已知常数。然而,在实际系统中,逼近误差是处于时变状态的。为更好地处理这个问题,提出1种改进后的模糊逻辑系统,逼近误差作为1个时变函数被考虑进控制设计中。理论分析表明,在该文所提出方法的作用下,系统的所有信号均为有界的。最后,仿真实验验证所提方法的可行性。

Aiming at the uncertain nonlinear robot system with input dead zone,an adaptive fuzzy compensation control method is designed to improve the control accuracy of the robot.An auxiliary system is introduced to reduce the interference caused by the input dead-time phenomenon.In addition,the fuzzy logic system is used to deal with the uncertain part of the system.In traditional fuzzy logic systems,in order to facilitate processing,the approximation error is often artificially defined as a known constant.However,in the actual system,the approximation error is in a time-varying state.In order to deal with this problem better,an improved fuzzy logic system is proposed,and the approximation error is considered as a time-varying function in the control design.Theoretical analysis shows that under the action of the method proposed in this paper,all signals of the system are bounded.Finally,simulation experiments verify the feasibility of the proposed method.