| 基于模糊自适应不确定性机械臂的轨迹跟踪控制 |
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| 引用本文： | 杜慧秋. 基于模糊自适应不确定性机械臂的轨迹跟踪控制[J]. 电机与控制学报, 2005, 9(3): 238-242 |
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| 作者姓名： | 杜慧秋 |
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| 作者单位： | 山东工商学院,信息与电子工程学院,山东,烟台,264005 |
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| 摘 要： | 针对一类不确定性机械臂的轨迹跟踪问题，提出了一种计算力矩加模糊补偿器的控制方案，计算力矩用来控制系统的标称部分，模糊补偿器用来控制系统的不确定部分，模糊补偿器的参数基于Lynapunov稳定性理论自适应调节，整个控制器保证了闭环系统的渐近稳定。在二自由度机械臂上的仿真验证了本文算法的有效性。
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| 关 键 词： | 不确定性 机械臂 计算力矩控制 模糊自适应控制 |
| 文章编号： | 1007-449X(2005)03-0238-05 |
| 修稿时间： | 2004-03-01 |
Tracking control of uncertain robotic manipulator system based on a fuzzy adaptive approach |
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| DU Hui-qiu. Tracking control of uncertain robotic manipulator system based on a fuzzy adaptive approach[J]. Electric Machines and Control, 2005, 9(3): 238-242 |
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| Authors: | DU Hui-qiu |
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| Abstract: | The issue of tracking control of uncertain robotic manipulator is addressed and solved.by a computed torque controller plus a fuzzy compensator. Computed torque controller is used for the nominal section of the system and the fuzzy compensator is used to control the uncertain section of system. The parameters of fuzzy compensator are adaptively tuned based on Lynapunov stability theory. The proposed scheme can guarantee the asymptotical stabilization of close - loop system. Simulation results demonstrate the effectiveness and feasibility of the method. |
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| Keywords: | Uncertainty robotic manipulator computed torque control fuzzy adaptive control |
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