高阶耦合机器人的自适应模糊滑模分散控制

针对一类存在模型不确定性和未知非线性扰动的机器人系统,考虑其不确定项和未知扰动项的上界是关于系统状态的普通高阶多项式,结合模糊系统的逼近能力,提出了一种基于滑模控制原理的自适应模糊分散控制方法.该方法不仅能够使得关节之间相互耦合的机器人各关节的控制器仅由本关节的信息就能完全确定,而且消除了现存文献在设计机器人分散控制器...

Adaptive fuzzy sliding mode decentralized control of higher-order coupling robot systems

For a robot system with model uncertainties and unknown nonlinear perturbations, an adaptive fuzzy sliding mode decentralized control method was put forward by considering the upper bound of the uncertainties and unknown disturbances to be ordinary high order polynomials about the system states, and combined with the approximation ability of fuzzy systems. This method can not only make every joint＇ s controller of robot systems with mutual coupling between the joints completely determined only by the information of itself, but also eliminate the related assumptions which the extant literatures in the design of robot decentralized controller requires modeling uncertainties and the upper bound of the unknown disturbances to be a constant or first-order polynomial about system states. Lyapunov stability theory analysis shows the closed-loop system is semi-globally uniformly ultimately bounded with tracking error converges to zero. Simulation results of two degrees robot systems prove the effectiveness of this method.