| 智能RLED动态目标中机器手的模糊鲁棒控制系统 |
| |
| 引用本文： | 魏 武,Jean Bosco Mbede,黄心汉.智能RLED动态目标中机器手的模糊鲁棒控制系统[J].控制理论与应用,2001,18(6):871-875. |
| |
| 作者姓名： | 魏 武 Jean Bosco Mbede 黄心汉 |
| |
| 作者单位： | 1. 长沙交通学院道路与交通工程系,
2. 华中科技大学控制科学与工程系, |
| |
| 摘 要： | 给出了一种电机驱动机器手中非线性机电模型的模糊鲁棒闭环控制系统，此控制系统可处理非结构环境下的三个主要的智能机器人导航问题：自动化规划、快速连续导航中的避障、处理结构和（或）非结构不确定性。
|
| 关 键 词： | RLED 机器手 动态目标 电机驱动 模糊鲁棒控制系统 |
| 文章编号： | 1000-8152(2001)06-0871-05 |
| 收稿时间： | 2000/3/10 0:00:00 |
| 修稿时间： | 4/2/2001 12:00:00 AM |
Fuzzy and Robust Control System of Intelligent RLED Arm Manipulators for Dynamic Obstacles |
| |
| WEI Wu,Jean Bosco Mbede and HUANG Xin-han.Fuzzy and Robust Control System of Intelligent RLED Arm Manipulators for Dynamic Obstacles[J].Control Theory & Applications,2001,18(6):871-875. |
| |
| Authors: | WEI Wu Jean Bosco Mbede and HUANG Xin-han |
| |
| Affiliation: | Department of Road and Traffic Engineering, Changsha Communications University, Changsha, 410076,P.R.China;Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan,430074,P.R.China;Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan,430074,P.R.China |
| |
| Abstract: | This paper presents a fuzzy and robust close loop control system for nonlinear electromechanical systems of an electric motor actuating an arm robot. This control system is applied to the three basic navigation problems of intelligent robot systems in unstructured environments: autonomous planning, fast nonstop navigation without collision with obstacles, and dealing with structured and/or unstructured uncertainties. The stability of close loop control system is guaranteed by Lyapunov theory. |
| |
| Keywords: | fuzzy & robust motion control RLED arm manipulators dynamic obstacles |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《控制理论与应用》浏览原始摘要信息 |
|
点击此处可从《控制理论与应用》下载全文 |
