陕西师范大学学报（自然科学版）2017，Vol.45Issue(2)：42-48,7.DOI:10.15983/j.cnki.jsnu.2017.02.223
基于模糊自抗扰技术的机械臂轨迹跟踪控制
The trajectory tracking control of manipulator based on fuzzy ADRC technology
摘要
Abstract
Considering the dynamic model of the manipulator influenced by the uncertain factors such as unmodeled dynamics, friction torque and external disturbances, a fuzzy active disturbance rejection controller(ADRC) is proposed in this paper to improve the trajectory tracking performance of the system.By using the extended state observer in the active disturbance rejection technique which can estimate the internal and external disturbances in real time, the uncertain factors of the system can be observed.The dynamic response performance of the system can be improved by using the tracking differential device, and the nonlinear error feedback control law is improved by combining the fuzzy control technology, thus realizing the optimal self-tuning of the error feedback gain.Simulation results show that the strong robustness and effectiveness of the proposed controller.关键词
自抗扰技术/总和扰动/轨迹跟踪/机械臂/模糊控制Key words
active disturbance rejection control/total disturbance/trajectory tracking/manipulator/fuzzy control分类
信息技术与安全科学引用本文复制引用
郭一军,俞立,徐建明..基于模糊自抗扰技术的机械臂轨迹跟踪控制[J].陕西师范大学学报（自然科学版）,2017,45(2):42-48,7.基金项目
国家自然科学基金(61374103) （61374103）
安徽省高校自然科学研究基金(KJHS2015B11) （KJHS2015B11）
