摘要
针对移动机械臂的输出跟踪问题,采用PD+前馈控制结构,结合滑模控制和模糊控制的设计思想为其设计了模糊滑模控制器。滑模控制的优点是滑动模态对系统摄动、不确定性以及干扰的完全自适应性,但同时也带来了抖振,运用模糊切换的方法解决了滑动模态的抖振问题。仿真实验表明,所设计的控制器不仅很好地跟踪给定轨迹,而且能有效地削弱系统的抖振。
Using the structure of PD＋ feedforward control, and combining sliding mode control with fuzzy control, a fuzzy sliding mode controller was proposed for output tracking problem of mobile manipulators. The sliding mode control has invariance to parameter variations, mode uncertainties and disturbance fluctuations. But it also brings the probIem of chattering. The problem of chattering was solved by using fuzzy switching surface. Finally, the results of numerical simulation verify that the controller can not only track the given trajectory but also considerably reduce the chattering of sliding mode control systems.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2008年第16期4323-4325,共3页
Journal of System Simulation
关键词
移动机械臂
滑模控制
模糊控制
滑动模态
切换平面
mobile manipulator
sliding mode control
fuzzy control
sliding mode
switching surface
