| 非完整移动机械手鲁棒自适应模糊控制 |
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| 引用本文： | 王红旗,张伟.非完整移动机械手鲁棒自适应模糊控制[J].控制工程,2011,18(1):58-61,160. |
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| 作者姓名： | 王红旗 张伟 |
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| 作者单位： | 河南理工大学电气工程与自动化学院,河南,焦作,454000 |
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| 基金项目： | 河南省高等学校创新人才支持计划基金(2009HASTIT021); 河南省重点科技攻关项目(102102210197) |
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| 摘 要： | 考虑系统存在的参数、外界扰动和未建模动态等不确定性,研究非完整移动机械手的鲁棒自适应控制器设计方法.基于用旋量理论建立的非完整移动机械手的动力学模型,设计了移动平台子系统的运动控制器,然后应用非线性反步控制技术和模糊逻辑系统的通用逼近性,用参数化线性模糊逻辑系统逼近非完整移动机械手动力学模型中的不确定项,基于Lyapu...
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| 关 键 词： | 移动机械手 模糊控制 鲁棒自适应 反步控制 |
Robust and Adaptive Fuzzy Control of Nonholonomic Mobile Manipulator |
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| WANG Hong-qi,ZHANG Wei.Robust and Adaptive Fuzzy Control of Nonholonomic Mobile Manipulator[J].Control Engineering of China,2011,18(1):58-61,160. |
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| Authors: | WANG Hong-qi ZHANG Wei |
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| Affiliation: | WANG Hong-qi,ZHANG Wei(School of Electrical Engineering and Automation,Henan Polytechnic University,Jiaozuo 454000,China) |
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| Abstract: | Considering the uncertainties of parameters,disturbances and unmodeled dynamics etc.in systems,a design methodology of robust and adaptive controller of nonholonomic mobile manipulator is researched.Based on the dynamics model of nonholonomic mobile manipulator built by using screws theory,the kinematic controller of motion platform subsystem is designed,then applying nonlinear backstepping control technology and universal approximability of fuzzy logic systems,making a parameterized linear fuzzy logic syst... |
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| Keywords: | mobile manipulator fuzzy control robust and adaptive backstepping control |
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