挖掘机器人的模型与自适应模糊滑模控制

为实现挖掘机器人的自动挖掘,在挖掘机器人的轨迹规划器给出铲斗期望运动轨迹的情况下,需要挖掘机器人的控制系统能够控制其工作装置实现对给定轨迹的准确跟踪.利用拉格朗日方法建立了挖掘机器人工作装置的三自由度动力学方程,设计了自适应模糊滑模变结构控制器.利用模糊控制动态调节切换增益,将滑模控制的切换项转化为连续的模糊系统,增强了控制系统对挖掘机器人工作装置不确定性和外界干扰的鲁棒性,削弱了滑模控制的抖振现象,并且有较强的自适应跟踪能力.利用MATLAB7.4/Simulink工具箱对所设计的控制器进行了仿真,给出了自适应模糊滑模控制的跟踪性能及误差.

Excavating robots modeling and adaptive fuzzy sliding mode control

To realize the automatic excavation via excavating robots, the robot control system should enable working device in tracking on pre-determined traces accurately. Based on the three-DOF Lagrange dynamical equation, a flexible structure, i.e. an adaptive fuzzy sliding mode controller, is designed to manipulate the working device. By converting the switching term of sliding mode into a continuous fuzzy system, the switching gain is adjusted through fuzzy control. Accordingly, the control system robustness is enhanced to resolve the working device uncertainty and external disturbance. In this manner, the sliding mode shaking can be reduced so as to promote adaptive tracking performance. By the means of simulation on controller using MATLABT. 0/Simulink^TM toolbox, the traceability and error are obtained for adaptive fuzzy control.