| 基于反演设计的机器人非奇异终端模糊滑模控制 |
| |
| 引用本文： | 徐传忠,王永初.基于反演设计的机器人非奇异终端模糊滑模控制[J].电气自动化,2012,34(4):8-9,36. |
| |
| 作者姓名： | 徐传忠 王永初 |
| |
| 作者单位： | 1. 华侨大学信息学院,福建 厦门,361021
2. 华侨大学机电学院,福建 厦门,361021 |
| |
| 基金项目： | 福建省自然科学基金资助项目 |
| |
| 摘 要： | 针对带有建模误差和外部干扰的多关节机器人轨迹跟踪问题,根据滑模控制原理,采用非奇异终端滑模面,基于反演设计方法,设计了反演非奇异终端模糊滑模控制。并设计了模糊控制器在线估计不确定性上界值,削弱了抖动。利用李亚普诺夫定理证明了系统的稳定性,仿真结果表明方法的有效性。
|
| 关 键 词： | 非奇异终端 滑模控制 模糊控制 反演控制 抖动 |
Nonsingular Terminal Fuzzy Sliding Mode Control for Multi-link Robots Based on Backstepping |
| |
| XU Chuan-zhong
,
WANG Yong-chu.Nonsingular Terminal Fuzzy Sliding Mode Control for Multi-link Robots Based on Backstepping[J].Electrical Automation,2012,34(4):8-9,36. |
| |
| Authors: | XU Chuan-zhong WANG Yong-chu |
| |
| Affiliation: | 1. College of Electrical Information Engineering of Huaqiao University, Xiamen Fujian 361021, China; 2. College of Electrical Information Engineering of Huaqiao University, Xiamen Fujian 361021, China) |
| |
| Abstract: | A new method of nonsingular terminal fuzzy sliding control based on backstepping for tracking control of multi-link robot manipulators is introduced in this paper. According to sliding mode control theory, backstepping is used to design nonsingular terminal sliding mode controller. A proper fuzzy controller is designed to estimate uncertain upper boundary on line and track the modeling error and disturbance automatically. So it reduces jttering. The system stability is proved by Lyapunov principle. Simulation results verify the validity of the control scheme. |
| |
| Keywords: | nonsingular terminal sliding mode control fuzzy control backstepping control jttering |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
