| 改进的模糊滑模控制在机械手上的仿真研究 |
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| 引用本文： | 郭忠,陈义保.改进的模糊滑模控制在机械手上的仿真研究[J].烟台大学学报(自然科学与工程版),2013(3):194-199. |
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| 作者姓名： | 郭忠 陈义保 |
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| 作者单位： | 烟台大学机电汽车工程学院,山东烟台264005 |
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| 基金项目： | 国家科技部十二五“863”课题资助项目（2012AA020206）;国家自然科学基金资助项目（30973553/C180105）;山东省科技攻关项目（2009GG10002087）;山东省自然科学基金资助项目（ZR2012HM016） |
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| 摘 要： | 采用一种改进模糊滑模控制器(MFSMC),用以改善机械手的跟踪性能,并采用模糊逻辑系统作为调节滑模控制器增益之适应机制.为满足机器人系统之实时需求,区域线性化技术亦引入此MFSMC系统.仿真结果显示此控制器可表现出较优异的性能:较小响应时间、平稳的控制行为.此外,此控制器对参数变量和外界干扰亦表现出有效性.
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| 关 键 词： | 模糊控制 滑模控制器 鲁棒性(控制系统) 机械手 仿真 |
Simulation Research of Improved Fuzzy Sliding Mode Control in Manipulator |
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| GUO Zhong,CHEN Yi-bao.Simulation Research of Improved Fuzzy Sliding Mode Control in Manipulator[J].Journal of Yantai University(Natural Science and Engineering edirion),2013(3):194-199. |
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| Authors: | GUO Zhong CHEN Yi-bao |
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| Institution: | (School of Mechatronics and Automobile Engineering, Yantai University, Yantai 264005, China) |
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| Abstract: | An improved fuzzy sliding mode controller （MFSMC） is used to improve the tracking performance of the manipulator, and the fuzzy logic system is adopted to adjust the gain of the sliding mode controller adaptation mech-anism. In order to meet the reahime requirements of robot system, regional linearization technology is also intro-duced into MFSMC system. The simulation results show that the controller can show a good performance such as short response time, stable control of behavior, and effectiveness to control variable parameters and external dis-turbance. |
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| Keywords: | fuzzy control sliding mode controller robustness （control system） manipulator simulation |
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