| 带有未知死区的机器人积分变结构模糊控制 |
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| 引用本文： | 葛维维,张天平.带有未知死区的机器人积分变结构模糊控制[J].电光与控制,2011,18(6):31-36. |
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| 作者姓名： | 葛维维 张天平 |
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| 作者单位： | 扬州大学信息工程学院,江苏扬州,225009 |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 针对一类带有未知死区和外来干扰的不确定机器人系统,基于变结构控制原理,采用简化的死区输入模型,利用具有线性可调参数的模糊系统的逼近能力,提出了一种积分变结构自适应模糊控制方案.该方案取消了要求逼近误差平方可积的条件,同时利用Young's不等式减少了模糊系统调节参数的数目,从而降低了实现的复杂性.最后,利用Lyapun...
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| 关 键 词： | 模糊控制 自适应控制 死区 积分变结构 |
Integral Variable Structure Fuzzy Control of Robot Manipulators with Unknown Dead-Zone |
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| GE Weiwei,ZHANG Tianping.Integral Variable Structure Fuzzy Control of Robot Manipulators with Unknown Dead-Zone[J].Electronics Optics & Control,2011,18(6):31-36. |
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| Authors: | GE Weiwei ZHANG Tianping |
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| Affiliation: | GE Weiwei,ZHANG Tianping(College of Information Engineering,Yangzhou University,Yangzhou225009,China) |
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| Abstract: | Based on the principle of variable structure control and by use of the simplified dead-zone model and the approximation capability of fuzzy systems with linear adjustable parameters which are used to approximate unknown plant function,a novel integral variable structure adaptive fuzzy control strategy is proposed for a class of uncertain robot manipulator with unknown dead-zones and external disturbances.The approach does not require the optimal approximation error to be square-integrable.Meanwhile,by utili... |
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| Keywords: | fuzzy control adaptive control dead-zone integral variable structure |
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