南京航空航天大学学报（英文版）2004，Vol.21Issue(3)：200-205,6.
柔性机械臂的模糊自适应控制研究
FUZZY ADAPTIVE CONTROL OF FLEXIBLE-LINK ROBOT MANIPULATOR
摘要
Abstract
A fuzzy adaptive control method is proposed for a flexible robot manipulator. Due to the structure characteristics of the flexible manipulator, the vibration modes must be controlled to realize the high-precision tip position. The Lagrangian principle is utilized to model the dynamic function of the single-degree flexible manipulator incorporating the assumed modes method. Simulation results of the fuzzy adaptive control method in the location control and the trajectory tracking with different tip disturbances are presented and compared with the results of the classic PD control. It shows that the controller can obtain the stable and robust performance.关键词
柔性机器人操作臂/拉格朗日方程/假设模态/模糊自适应控制Key words
flexible robot manipulator/Lagrangian function/assumed mode method/fuzzy adaptive control分类
信息技术与安全科学引用本文复制引用
倪受东,吴洪涛,袁祖强,嵇海平..柔性机械臂的模糊自适应控制研究[J].南京航空航天大学学报（英文版）,2004,21(3):200-205,6.基金项目
国家自然科学基金(50375071)资助项目 （50375071）
江苏省自然科学基金(BK2003091)资助项目. （BK2003091）
