中山大学学报（自然科学版）2016，Vol.55Issue(2)：7-13,7.DOI:10.13471/j.cnki.acta.snus.2016.02.002
考虑未知负载的机械臂任务空间模糊跟踪控制
Adaptive fuzzy control for robot manipulators with uncertain load in task-space
摘要
Abstract
An adaptive fuzzy controller (AFC)is proposed by considering the uncertain payload as well as robot dynamics in task space.To eliminate the noise from the velocity obtained by the differential of position,the velocity is filtered by a low-pass filter,while,the task-space velocity is estimated by the Ja-cobian matrix.The estimation error is considered in the controller design.And another low-pass filter is used to build the error function.The control law is composed of two parts.The first part is a fuzzy logic system approximating the nonlinear term of the robot dynamics,including friction;and the second part is a robust term to reduce the approximate error of the fuzzy logic system as well as the uncertain external disturbance.Using Lyapunov theory,the controller is given and the stability of the closed-loop system is proved.Comparing simulink results by using matlab show that,the tracking tajectory of the end-effector under the proposed AFC controller has good accuracy and smoothness.关键词
机械臂/任务空间/模糊逻辑系统/自适应控制/未知参数Key words
robot manipulator/task-space tracking/fuzzy logic system/adaptive control/uncertain pa-rameters分类
信息技术与安全科学引用本文复制引用
徐恩华,徐燕,黄宇飞..考虑未知负载的机械臂任务空间模糊跟踪控制[J].中山大学学报（自然科学版）,2016,55(2):7-13,7.基金项目
国家自然科学基金资助项目 （）
