柔性机器人基于自适应模糊动态面的实用稳定控制

中国机械工程 ›› 2012, Vol. 23 ›› Issue (19): 2297-2301.

柔性机器人基于自适应模糊动态面的实用稳定控制

吴忠强1;张晓霞1;舒杰2

1.燕山大学工业计算机控制工程河北省重点实验室,秦皇岛, 066004
2.山东中烟工业有限责任公司济南卷烟厂,济南,250100

出版日期:2012-10-10 发布日期:2012-10-17
基金资助:
河北省自然科学基金资助项目（F2012203088）
Hebei Provincial Natural Science Foundation of China（No. F2012203088）

Pratical Stable Control for Flexible-joint Robots Based on Adaptive Fuzzy Dynamic Surface Scheme

Wu Zhongqiang1;Zhang Xiaoxia1;Shu Jie2

1.Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao,Hebei, 066004
2.Jinan Cigarette Factory of China Tobacco Shandong Industrial Co., Ltd, Jinan, 250100

Online:2012-10-10 Published:2012-10-17
Supported by:
Hebei Provincial Natural Science Foundation of China（No. F2012203088）

摘要/Abstract

摘要：

针对单连杆柔性机器人系统,提出了一种基于自适应模糊动态面的实用稳定控制方法。对于未知或时变函数,采用自适应模糊逼近,进而予以补偿。通过动态面控制避免了Backstepping设计带来的计算膨胀问题,简化了控制器的结构。所设计的控制器保证了闭环系统的实用稳定性。仿真结果验证了所提出控制器的有效性。
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关键词: 柔性机器人, 动态面控制, 模糊系统, 自适应控制

Abstract:

Practical stable control based on adaptive fuzzy dynamic surface scheme was presented for single-link flexible robots. The unknown and time-varying functions were compensated by adaptive fuzzy approximators. By using DSC design technique, the proposed control system can overcome the problem of “explosion of complexity” inherent in the Backstepping design methods. Thus, the structure of the controller was simplified. The proposed controller guarantees the practical stability of the closed-loop system. Finally, simulation results show the effectiveness of the proposed controller.

Key words: flexible robot, dynamic surface control(DSC), fuzzy system, adaptive control

中图分类号:

TP241

吴忠强1, 张晓霞1, 舒杰2. 柔性机器人基于自适应模糊动态面的实用稳定控制[J]. 中国机械工程, 2012, 23(19): 2297-2301.

TUN Zhong-Jiang-1, ZHANG Xiao-Xia-1, SHU Jie-2. Pratical Stable Control for Flexible-joint Robots Based on Adaptive Fuzzy Dynamic Surface Scheme[J]. China Mechanical Engineering, 2012, 23(19): 2297-2301.

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