摘要
在机器人跟踪精度控制的优化中,由于典型的非线性系统采用滑模变结构控制时普遍存在抖振问题,造成跟踪精度较差。通过在一般的滑模控制系统中引入自适应模糊系统,设计模糊规则,并根据滑模到达条件对切换增益进行有效估计,使系统滑模控制中的切换增益可自适应逼近,利用切换增益消除干扰项,从而消除抖振。以二自由度机器人系统为研究对象进行仿真结果分析,表明系统在存在一定程度模型误差和外部干扰的情况下,仍可以较高准确度快速跟踪输入信号,并能消除滑模控制的抖动影响,验证了控制策略的有效性。
In order to overcome the chattering problem existed in variable structure control for typical nonlinear systems, an adaptive sliding mode control system is introduced into general fuzzy systems, the fuzzy rules are de- signed. The switch gain of the sliding mode control is estimated according to the reaching conditions, and it is approached adaptively. The interference term is eliminated by using the switch gain, and thereby the chattering is eliminated. The simulation results of two degrees of freedom robot system show that, in the presence of model error and external interference, the system has good tracking performance, and the chattering of sliding mode control can be eliminated.
出处
《计算机仿真》
CSCD
北大核心
2015年第11期368-372,共5页
Computer Simulation
关键词
机器人
模糊系统
滑模控制
增益调节
Robot
Fuzzy system
Sliding mode control
Gain adjustment
