二自由度关节型机器人的自适应模糊滑模控制

针对二自由度关节型机器人控制问题,通过分析传统滑模控制的不足,提出一种自适应模糊滑模控制算法。采用自适应单输入单输出模糊系统来计算控制增益,同时设计了基于Lyapunov稳定性理论的自适应律,最后利用Simulink软件对自适应模糊滑模控制进行仿真实验。结果表明,机器人各关节控制力矩的抖振现象明显减弱,系统性能得到提升;自适应算法的加入使模糊滑模控制能在短时间内随着系统状态的变化自动地进行调节,稳态收敛为常数;在关节型机器人参数不确定和存在外界干扰的情况下,自适应模糊滑模控制算法依然具有良好的鲁棒性和跟踪精度。

Adaptive fuzzy sliding mode control for 2-DOF articulated robot

Aimed at the control of 2-DOF articulated robot, an adaptive fuzzy sliding mode control algorithm is proposed after analyzing the deficiency of classical sliding mode control method. An adaptive single-input single-output fuzzy system is applied to calculate the control gain and adaptive laws are designed based on Lyapunov stability theory. Then the adaptive fuzzy sliding mode control is simulated using Simulink software. The results show that the chattering of control torque for the joints of the robot is significantly weakened, and the system performance is improved. Fuzzy sliding mode controller can be automatically adjusted with the transformation of system state because of the adaptive algorithm, and the steady state converges to a constant. In the case of articulated robot with uncertain parameters and external disturbance, the proposed algorithm still has good robustness and high tracking precision.