科技创新与应用2023，Vol.13Issue(36)：133-136,4.DOI:10.19981/j.CN23-1581/G3.2023.36.31
带输入死区的机器人自适应模糊补偿控制研究
摘要
Abstract
Aiming at the uncertain nonlinear robot system with input dead zone,an adaptive fuzzy compensation control method is designed to improve the control accuracy of the robot.An auxiliary system is introduced to reduce the interference caused by the input dead-time phenomenon.In addition,the fuzzy logic system is used to deal with the uncertain part of the system.In traditional fuzzy logic systems,in order to facilitate processing,the approximation error is often artificially defined as a known constant.However,in the actual system,the approximation error is in a time-varying state.In order to deal with this problem better,an improved fuzzy logic system is proposed,and the approximation error is considered as a time-varying function in the control design.Theoretical analysis shows that under the action of the method proposed in this paper,all signals of the system are bounded.Finally,simulation experiments verify the feasibility of the proposed method.关键词
机器人控制系统/输入死区/模糊逻辑系统/自适应控制/辅助系统Key words
robot control system/input dead zone/fuzzy logic system/adaptive control/auxiliary system分类
信息技术与安全科学引用本文复制引用
陈子聪,张林智,黎泽..带输入死区的机器人自适应模糊补偿控制研究[J].科技创新与应用,2023,13(36):133-136,4.基金项目
广州铁路职业技术学院人才引进项目(GTXYR2318) （GTXYR2318）
广州铁路职业技术学院2023年度院级教科研项目(GTXYK2306) （GTXYK2306）
