| 空间三关节机器人自适应双模糊滑模控制 |
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| 引用本文： | 胡盛斌,陆敏恂. 空间三关节机器人自适应双模糊滑模控制[J]. 同济大学学报(自然科学版), 2012, 40(4): 0622-0628 |
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| 作者姓名： | 胡盛斌 陆敏恂 |
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| 作者单位： | 1. 同济大学机械工程学院,上海201804;上海工程技术大学航空运输学院,上海201620
2. 同济大学机械工程学院,上海,201804 |
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| 基金项目： | 国家自然科学基金项目（51175321）,上海市科委科研计划项目（09170502400） |
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| 摘 要： | 为了提高空间三关节机器人轨迹跟踪控制性能,提出了一种带双模糊自适应控制的滑模控制新方法.该方法将滑模控制器分为等效控制和切换控制两部分.采用一个模糊自适应控制器,根据滑模到达条件对切换增益进行有效估计.采用另一个模糊自适应控制器,根据滑模面来调整切换控制项.这些控制器结合起来消除了抖振,提高了控制性能.系统的稳定性通过李亚普诺夫定理证明.最后进行了仿真实验,并与其他方法进行了对比分析.结果表明所提方法是有效的.
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| 关 键 词： | 机器人 滑模控制 模糊控制 抖振 |
| 收稿时间： | 2011-01-14 |
| 修稿时间： | 2012-01-07 |
Adaptive Double Fuzzy Sliding Mode Control for Three links Spatial Robot |
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| HU Shengbin and LU Minxun. Adaptive Double Fuzzy Sliding Mode Control for Three links Spatial Robot[J]. Journal of Tongji University(Natural Science), 2012, 40(4): 0622-0628 |
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| Authors: | HU Shengbin and LU Minxun |
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| Affiliation: | Tongji University,Tongji University |
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| Abstract: | In order to improve the performance of tracking controller of three-links spatial robot, a new adaptive double fuzzy sliding mode controller is proposed in this paper. The controller is divided into two parts: equivalent controller and corrective controller. A fuzzy controller is designed to estimate the magnitude of switching gain of corrective controller based on sliding mode reaching conditions. Another fuzzy controller is designed to adjust corrective controller based on sliding mode surface. These controllers are then combined in order to eliminate the chattering, and enhance the performance. Lyapunov theorem is used to prove the stability of control system. Finally, simulation experiment and comparative analysis are carried out. The results show that the proposed control scheme is effective. |
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| Keywords: | sliding mode control fuzzy control chattering robot |
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