计算机工程与应用Issue(3)：61-65,84,6.DOI:10.3778/j.issn.1002-8331.1304-0467
遥操作机器人自适应模糊控制及跟踪性能研究
Research on adaptive fuzzy control and tracking performance of teleop-eration robot
摘要
Abstract
In this paper, an adaptive fuzzy control is proposed to improve the tracking performance for teleoperation robot. With the uncertain nonlinear factors affection of slave manipulator, the uncertainties can be compensated for slave manipulator by the method of fuzzy system approximation, which makes each of the joints track accurately according to the trajectory of master manipulator. At the same time, in order to reduce the number of fuzzy rules of the fuzzy logic system, the uncer-tainties of the slave manipulator dynamics equation will be decomposed and a new control law will be designed, which improves the robustness and stability of the system. The validity of the control scheme is verified by computer simulation, which shows that the adaptive fuzzy control strategy can achieve accurate teleoperation for slave manipulator.关键词
遥操作/自适应模糊控制/模糊逼近/从操作手动力学模型/非线性Key words
teleoperation/adaptive fuzzy control/fuzzy approximation/dynamics model of slave manipulator/nonlinear分类
信息技术与安全科学引用本文复制引用
贠今天,许立磊,桑宏强..遥操作机器人自适应模糊控制及跟踪性能研究[J].计算机工程与应用,2015,(3):61-65,84,6.基金项目
国家自然科学基金（No.51205287）；天津市高等学校科技发展基金计划项目（No.20110402）。 （）
