二自由度平面机械手的模糊建模与模糊控制

本文以二自由度平面机械手为例，尝试用线性系统理论和模糊控制理论解决非线性系统问题。要点是：把一个整体非线性动力学模型看成是多个局部线性模型的模糊逼近；把整个非线性系统的控制看成是多个局部线性系统控制的模糊逼近。这种方法称为并行分配补偿法。本文建立了二自由度平面机械手的模糊模型并在此基础上用并行分配补偿法对系统进行了综合，最后用仿真进行了验证，证明了并行分配补偿法的成功和所建模型的合理性。

Fuzzy modeling and fuzzy control for a planar manipulator with two degrees of freedom

This paper attempts to solve the problem of nonlinear systems control using linear systems theory and fuzzy control theory for example of a planar manipulator with two degrees of freedom. The key point is that total nonlinear system model is regarded as fuzzy approximation of many local linear models, the control of total nonlinear system is regarded as fuzzy approximation of the controls of many local linear systems. This method is called as parallel distributed compensation. This paper establishes fuzzy model of a planar manipulator with two degrees of freedom and synthesizes the systems by using method of parallel distributed compensation, at last, proves a great effect of the method of parallel distributed compensation and reasonableness of the established fuzzy model.