| 基于改进型广义双曲正切模型的机器臂控制算法研究 |
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| 引用本文： | 李文胜.基于改进型广义双曲正切模型的机器臂控制算法研究[J].科学技术与工程,2010,10(33). |
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| 作者姓名： | 李文胜 |
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| 作者单位： | 江苏科技大学电子信息学院,镇江,212003 |
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| 摘 要： | 针对存在复杂干扰情况下的机械臂轨迹跟踪控制问题,采用了一种基于双曲正切模型的鲁棒自适应控制方案。利用高解释性的改进型广义模糊双曲正切模型的全局逼近特点,设计一种自适应控制器用于机器人轨迹跟踪控制;同时以解一个线性矩阵不等式方程来保证系统的鲁棒稳定性。通过Lyapunov理论验证设计的控制器能够有效地克服不确定性对系统的影响,实现闭环系统的渐近稳定。仿真实验表明此控制算法具有较高的跟踪精度和较强的鲁棒性。
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| 关 键 词： | 广义双曲正切模型 模糊自适应控制 鲁棒控制 机器人控制 |
| 收稿时间： | 9/17/2010 4:48:25 PM |
| 修稿时间： | 9/27/2010 2:50:48 PM |
Robot control algorithm based on the improved generalized hyperbolic model |
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| liwensheng.Robot control algorithm based on the improved generalized hyperbolic model[J].Science Technology and Engineering,2010,10(33). |
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| Authors: | liwensheng |
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| Institution: | LI Wen-sheng,GAO Jian(School of Electronics and Information,Jiangsu University of Science and Technology,Zhenjiang 212003,P.R.China) |
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| Abstract: | An adaptive robust control strategy based on hyperbolic model is proposed for robotic position control with exterior disturbances.Taking advantage of a highly interpretably improved and generalized fuzzy hyperbolic model:a universal approximator,a fuzzy adaptive controller is proposed for the trajectory tracking control of robotic manipulator.In addition,a linear matrix equality problem is solved to guarantee the robustness.It is proved by Lyapunov theories that the controller is capable of overcoming the u... |
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| Keywords: | generalized hyperbolic model fuzzy adaptive control robust control robotic manipulator |
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