| 二自由度平面机械手的T-S模型模糊自适应控制 |
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| 引用本文： | 张振东,孙增圻. 二自由度平面机械手的T-S模型模糊自适应控制[J]. 清华大学学报(自然科学版), 1998, 0(3) |
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| 作者姓名： | 张振东 孙增圻 |
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| 作者单位： | 1. 河北工业大学
2. 清华大学,计算机科学与技术系,智能技术与系统国家重点实验室,北京,100084 |
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| 摘 要： | 为解决二自由度平面机械手的控制问题，提出基于Ｔ－Ｓ模糊模型和并行分配补偿（ｐａｒａｌｅｌｄｉｓｔｒｉｂｕｔｅｄｃｏｍｐｅｎ－ｓａｔｉｏｎ）法的模糊模型参考自适应控制方法。并提出采用初始条件补偿回路，消除参考模型和实际系统之间由于初始条件不同所引起的误差和实际系统参数变化引起的部分不能被自适应调节律消除的误差。根据李雅普诺夫稳定性理论，求得反馈控制律、稳定条件和调节律（自适应律）。最后，对连续系统情况进行了仿真验证。所提方法可用于解决一类非线性系统的控制问题。
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| 关 键 词： | 模型参考自适应控制；T－S模型；模糊控制；初始条件补偿 |
Fuzzy self-adaptive control of T-S model of the plane manipulator with two-degree freedom |
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| ZHANG Zhendong,SUN Zengqi. Fuzzy self-adaptive control of T-S model of the plane manipulator with two-degree freedom[J]. Journal of Tsinghua University(Science and Technology), 1998, 0(3) |
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| Authors: | ZHANG Zhendong SUN Zengqi |
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| Affiliation: | ZHANG Zhendong,SUN Zengqi Department of Computer Science and Technology,Tsinghua University,Intelligent Technique and System Laboratory,Beijing 100084,China |
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| Abstract: | A model reference adaptive control method based on a T S model and parallel distributed compensation is given to control a plane manipulator with two degrees of freedom. An initial condition compensation loop is presented to eliminate the errors caused by the difference between the reference model and the real plant and the variation of the plant parameters. A feedback control law, stability conditions and a self adaptive law based on the Lyapunov stability theory is designed. A simulation example for a continuous system is given to show that the method can solve the control problems for a class of nonlinear systems. |
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