信息与控制2016，Vol.45Issue(3)：342-347,6.DOI:10.13976/j.cnki.xk.2016.0342
基于自适应模糊补偿的机械臂复合控制策略
Compound Control Strategy for Manipulator Based on Adaptive Fuzzy Compensation
摘要
Abstract
In this paper,we propose an adaptive control scheme,based on the Lyapunov stability theory,for a manipulator in cases characterized by uncertainties such as friction and disturbance,which cause difficulties in the manipulator's tracking control.First,we compute the torque controller based on the nominal value of the manipulator.Next,we propose a fuzzy compensator to track friction.Then,we design a feedback controller based on the upper bound of the random perturbation to guarantee the system's stability.The simulation results for the robot manipulator's trajectory tracking in cases with uncertain friction and perturbation demonstrate the validity of the proposed compound control strategy.关键词
机械臂/李亚普诺夫稳定性理论/模糊系统/自适应律Key words
manipulator/Lyapunov stability theory/fuzzy system/adaptive law分类
信息技术与安全科学引用本文复制引用
胡灵美,陈杨,陈俊风,蓝艇..基于自适应模糊补偿的机械臂复合控制策略[J].信息与控制,2016,45(3):342-347,6.基金项目
国家自然科学基金资助项目(61273146,61403121) （61273146,61403121）
工业控制国家重点实验室资助项目(ICT1237) （ICT1237）
宁波市自然科学基金资助项目(2013A610148,2013A610120) （2013A610148,2013A610120）
“十二五”浙江省高校重点学科——计算机应用技术资助计划(20121114) （20121114）
