| 移动机械手鲁棒自适应模糊控制 |
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| 引用本文： | 王红旗 王庆林. 移动机械手鲁棒自适应模糊控制[J]. 控制与决策, 2010, 25(3): 461-465 |
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| 作者姓名： | 王红旗 王庆林 |
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| 作者单位： | 1. 河南理工大学电气工程与自动化学院,河南焦作,454000
2. 北京理工大学自动化学院,北京,100081 |
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| 摘 要： | 基于旋量理论建立了非完整移动机械手系统的动力学模型,通过反步控制技术,应用非线性参数化模糊逻辑系统设计了移动机械手的鲁棒自适应模糊控制器.该控制器放松了移动机械手控制器设计中斜对称性的要求,对移动机械手系统中存在的参数或外界扰动等不确定性具有较强的鲁棒性和自适应能力.理论证明和仿真结果表明,所设计的控制器是有效的.
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| 关 键 词： | 移动机械手 模糊控制 鲁棒自适应 |
| 收稿时间： | 2009-02-24 |
| 修稿时间： | 2009-07-09 |
Robust and Adaptive Fuzzy Control for Mobile Manipulator |
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| WANG Hong-qi,WANG Qing-lin. Robust and Adaptive Fuzzy Control for Mobile Manipulator[J]. Control and Decision, 2010, 25(3): 461-465 |
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| Authors: | WANG Hong-qi WANG Qing-lin |
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| Affiliation: | 1.School of Electrical Engineering and Automation/a>;He'nan Polytechnic University/a>;Jiaozuo 454000/a>;China/a>;2.School of Automation/a>;Beijing Institute of Technology/a>;Beijing 100081/a>;China. |
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| Abstract: | Screws-based dynamics model of nonholonomic mobile manipulator systems is built. By using backstepping control technology and applying nonlinear-parameterized fuzzy logical systems fuzzy logical systems,a robust and adaptive fuzzy controller of mobile manipulator is designed. The controller relaxes the demands of skew symmetry when designing controllers of mobile manipulator,which has stronger robustness and adaptive capacity to uncertainties of parameters or disturbance existing in mobile manipulator syste... |
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| Keywords: | Mobile manipulator Fuzzy control Robust and adaptive |
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