基于模糊干扰观测器的电动Stewart平台自适应模糊控制

建立了一个电动Stewart平台的统一动力学模型,并基于它设计了一种新型的自适应模糊控制算法。这个统一的动力学模型在任务空间中使用了Newton-Euler方法建立,同时结合了平台动力学和执行器动力学模型。自适应模糊控制算法使用计算力矩方法设计运动平台标称模型的逆动力学控制器,然后使用基于模糊干扰观测器的自适应模糊控制器对模型的不确定性和外部扰动进行补偿。通过数值仿真分析表明,在不引入高增益控制器的情况下,成功地消除了平台参数的不确定性和外部干扰的影响,保证了平台的跟踪性能。

Adaptive Fuzzy Control for an Electrical Driven Stewart Platform Based on Fuzzy Disturbance Observer

A novel adaptive fuzzy controller based on a unified model of electrical driven Stewart platform flight simulator is proposed in this paper.The unified model is built in task space with Newton-Euler method and consists of both the platforms and the actuators′ dynamics.The adaptive fuzzy controller adopts the structure of computed torque controller and incorporates a fuzzy disturbance observer.The computed torque of the controller is used to provide inverse dynamics control action for nominal plant,while the internal model uncertainty and external disturbances is estimated by the fuzzy disturbance observer and then eliminated by the proposed controller.The result of numerical simulation shows that this control scheme,without introducing high gain controller,has excellent tracking performance in presence of model errors and disturbances.