中国计量大学学报2024，Vol.35Issue(2)：222-232,11.DOI:10.3969/j.issn.2096-2835.2024.02.005
基于T-S模糊建模的气动肌肉拮抗关节预测角度控制
Predictive angular control of pneumatic muscle antagonist joints based on T-S fuzzy modeling
摘要
Abstract
Aims:This paper aims to improve the control accuracy of the pneumatic muscle antagonist joint.Methods:A T-S fuzzy model predictive control method for the angle tracking of pneumatic muscle antagonistic joints was proposed.A T-S fuzzy model for antagonistic joints was established and discretized.Based on the discrete T-S fuzzy model,a model predictive controller for antagonistic joints was designed;and the stability of the system was verified through the eigenvalue method.Results:Simulation experiments showed that compared to the traditional model predictive control,the T-S fuzzy model predictive controller reduced the average absolute error by 29.05% and 44.11% when tracking the angle of±15°and±10°,respectively.Conclusions:The proposed T-S fuzzy model predictive controller can improve the control accuracy of pneumatic muscle antagonist joints.关键词
气动肌肉拮抗关节/T-S模糊模型/模型预测控制Key words
pneumatic muscle antagonist joint/T-S fuzzy model/model predictive control分类
信息技术与安全科学引用本文复制引用
张传强,周坤,崔小红,王斌锐..基于T-S模糊建模的气动肌肉拮抗关节预测角度控制[J].中国计量大学学报,2024,35(2):222-232,11.基金项目
浙江省重点研发计划项目(No.2023C03186) （No.2023C03186）
