| 3-RRRT并联机器人鲁棒自适应模糊滑模控制 |
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| 引用本文： | 刘延斌,张宏敏,赵新华.3-RRRT并联机器人鲁棒自适应模糊滑模控制[J].电机与控制学报,2009,13(Z1). |
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| 作者姓名： | 刘延斌 张宏敏 赵新华 |
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| 作者单位： | 1. 河南科技大学机电工程学院,河南洛阳,471003
2. 天津理工大学机械工程学院,天津,300191 |
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| 基金项目： | 天津自然科学基金项目，河南省教育厅自然科学计划项目 |
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| 摘 要： | 针对3-RRRT型搬运并联机器人提出了一种直接自适应模糊滑模控制方法.根据机器人的系统动力学模型特点,基于Lyapunov函数的综合设计方法和滑模控制理论,利用模糊逻辑系统与自适应技术相结合,提出了一种控制律,然后进行了系统控制仿真实验.结果表明,采用这种直接自适应模糊滑模控制方法的3-RRRT型并联机器人在周期干扰状况下达到了较高的轨迹控制精度,其闭环系统具有较强的自适应性和鲁棒稳定性.
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| 关 键 词： | 并联机器人 轨迹跟踪控制 滑模控制 自适应技术 模糊控制 |
Robust adaptive fuzzy sliding-mode control method of 3-RRRT parallel robot |
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| LIU Yan-bin,ZHANG Hong-min,ZHAO Xin-hua.Robust adaptive fuzzy sliding-mode control method of 3-RRRT parallel robot[J].Electric Machines and Control,2009,13(Z1). |
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| Authors: | LIU Yan-bin ZHANG Hong-min ZHAO Xin-hua |
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| Abstract: | A direct adaptive Fuzz sliding mode control method for a 3-RRRT parallel robot was presented. According to its system dynamics model character,and on the basis of Lyapunov' s stability theory and method,combined fuzzy logic system with adaptive technology,a system controller was put forward,then control system numerical simulation test was completed using Matlab software platform,and the simulation test results show that in case of periodic interferential signal,the 3-RRRT parallel robot attained higher path tracking precision using the adaptive fuzzy sliding mode control method,and its closed-loop system revealed great adaptability and robust stability. |
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| Keywords: | parallel robot path tracking control sliding mode control adaptive technology fuzzy control |
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