| 一种高效能的机器人模糊控制方案 |
| |
| 引用本文： | 李伟,Janocha Hartmut.一种高效能的机器人模糊控制方案[J].自动化学报,1995,21(4):400-409. |
| |
| 作者姓名： | 李伟 Janocha Hartmut |
| |
| 作者单位： | 1.智能技术与系统国家实验室清华大学计算机系,北京;;;2.Lehrstuhl für Proze B automatisierung,University of Saarland Saarbrücken 66041,Germany |
| |
| 基金项目： | 国家智能技术与系统重点实验室基金 |
| |
| 摘 要： | 本文提出一种高效能的模糊控制方案,来提高机器人当存在摩擦力和负载等不确定因素时以及动力学参数变化时的系统响应特性.该控制方案是由一个模糊逻辑(FL)控制器(主控制器)和一个传统的微分(D)控制器(辅助控制器)所构成.FL控制器用来提高系统的瞬态特性和稳态精度,D控制器用来保证系统的稳定性.在这一控制方案基础上,获得理想控制特性的主要思想是研究和调整语言变量的隶属度函数.模拟结果表明了这一控制方案的有效性和鲁棒性.此外,这一控制方案具有结构简单且易于实现的优点.
|
| 关 键 词： | 模糊控制 机器人 非线性 |
| 收稿时间： | 1992-11-30 |
An Effective Fuzzy Control Scheme for Robots |
| |
| Li Wei,Janocha Hartmut.An Effective Fuzzy Control Scheme for Robots[J].Acta Automatica Sinica,1995,21(4):400-409. |
| |
| Authors: | Li Wei Janocha Hartmut |
| |
| Affiliation: | 1. Department of Computer Science,National Laboratory of Intelligent Technology and Systems,Tsinghua University,Beijing;Lehrstuhl für Proze B automatisierung,University of Saarland Saarbrücken 66041,Germany |
| |
| Abstract: | In this paper and effective fuzzy control scheme for robots is presented to improve the control performance of robot systems in the presence of friction and load changes as well as geometric parameters changes of dynamics. This scheme consists of a fuzzy logic (FL) controller, which is used as a main controller to ensure desired transient and steady-state behaviors, and a conventional derivative (D) controller, which is used as an auxiliary controller to stabilize the system. On the basis of this scheme, the main idea of achieving a desired control performance is to investigate the membership functions of linguistic variables. Simulation results demonstrated the effectiveness and robustness of the proposed fuzzy control scheme.Besides,the scheme is quite simple in structure and can be easily implemented. |
| |
| Keywords: | Fuzzy control robots nonlinear systems |
| 本文献已被 CNKI 维普 等数据库收录！ |
| 点击此处可从《自动化学报》浏览原始摘要信息 |
|
点击此处可从《自动化学报》下载全文 |
|
