摘要
针对四轮二连杆非完整移动机械臂的轨迹跟踪问题,设计了一种结合自适应模糊控制和滑模控制的控制策略。首先建立了系统包含未知动力学模型不确定性和外部扰动的动力学控制模型,然后基于反演技术设计了控制器;采用了模糊控制来逼近系统未知时变总体不确定性,并采用了自适应机制动态优化模糊系统控制参数,进一步采用了指数趋近律滑模控制消除模糊逼近误差的影响。研究结果表明:该控制器对系统总体不确定性进行了有效补偿,保证了移动机械臂在复杂不确定环境下的良好轨迹跟踪性能。
Aiming at the trajectory tracking problem of a four-wheel two-link nonholonomic mobile manipulator,a control strategy combining adaptive fuzzy control and sliding mode control was proposed.Firstly,a dynamic control model including uncertainties of unknown dynamic model and external disturbances was established,and then the controller was designed based on the backstepping.Fuzzy control was used to approximate the unknown time-varying global uncertainties of the system,and adaptive mechanism was used to dynamically optimize the con-trol parameters of the fuzzy system.Further,the exponential reaching law sliding mode control was used to eliminate the influence of the fuzz-y approximation error.The results indicate that the controller can effectively compensate the overall system uncertainties,and the good trajec-tory tracking performance of the mobile manipulator in complex uncertain environment is guaranteed.
作者
郑耿峰
ZHENG Geng-feng(Fujian Special Equipment Inspection and Research Institute,Fuzhou University,Fuzhou 350008,China)
出处
《机电工程》
CAS
北大核心
2020年第1期96-102,共7页
Journal of Mechanical & Electrical Engineering
基金
国家自然科学基金资助项目(51605093)
国家工程部智能制造综合标准化项目(GXSP20181001)
国家科技部质检公益性行业专项项目(201410139)
福建省质量技术监督局科技项目(FJQI2018031)
关键词
轮式移动机械臂
非完整系统
自适应模糊控制
滑模控制
不确定系统
wheeled mobile manipulators
nonholonomic systems
adaptive fuzzy control
sliding mode control
uncertain systems
