| 受限柔性机器人基于遗传算法的自适应模糊控制 |
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| 引用本文： | 樊晓平, 徐建闽, 毛宗源. 受限柔性机器人基于遗传算法的自适应模糊控制. 自动化学报, 2000, 26(1): 61-67. |
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| 作者姓名： | 樊晓平 徐建闽 毛宗源 |
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| 作者单位： | 1.长沙铁道学院信息与控制工程研究所,长沙;;2.华南理工大学自动控制工程系,广州 |
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| 基金项目： | 国家自然科学基金!( 6 9975 0 0 3)，湖南省自然科学基金!( 98JJY2 0 4 4) |
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| 摘 要： | 研究一类平面双连杆受限柔性机器人的混合位置/力控制问题,提出一种自适应模糊逻辑控制方案,利用遗传学习算法对控制器中的参数进行学习和修正,达到提高系统控制精度、改善系统鲁棒性的目的.计算机仿真结果表明这种控制器设计方案具有很好的特性.
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| 关 键 词： | 受限柔性机器人 位置/力控制 遗传算法 自适应模糊控制 |
| 收稿时间： | 1998-04-16 |
| 修稿时间： | 1998-04-16 |
GENETIC ALGORITHM BASED ADAPTIVE FUZZY CONTROL FOR CONSTRAINED FLEXIBLE LINK MANIPULATORS |
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| Fan Xiaoping, Xu Jianmin, Mao Zongyuan. Genetic Algorithm Based Adaptive Fuzzy Control for Constrained Flexible-Link Manipulators. ACTA AUTOMATICA SINICA, 2000, 26(1): 61-67. |
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| Authors: | FAN Xiaoping XU Jianmin MAO Zongyuan |
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| Affiliation: | 1. Institute of Information and Control Engineering,Changsha Railway University,Changsha;Dept.of Automatic Control Engineering,South China University of Technology,Guangzhou |
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| Abstract: | In this paper, the hydrid position and force control problem is discussed for a class of planar two link constrained flexible manipulators. A GA based adaptive fuzzy control scheme is presented to control the tip position and the contact force, and a digital genetic algorithm is used to update the parameters of the controller so as to enhance the control precision and improve the robustness of the system. Computer simulation results demonstrate that the controller design method presented here has very good performance. |
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| Keywords: | Constrained flexible manipulators position/force control genetic algorithms(GAs) adaptive fuzzy logic control. |
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