| SFCMAC及其在仿人手臂控制中的应用 |
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| 引用本文： | 刘珊,王永骥,方慧娟,徐琦. SFCMAC及其在仿人手臂控制中的应用[J]. 华中科技大学学报(自然科学版), 2008, 36(10) |
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| 作者姓名： | 刘珊 王永骥 方慧娟 徐琦 |
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| 作者单位： | 华中科技大学控制科学与工程系,图像信息处理与智能控制教育部重点实验室,湖北武汉430074 |
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| 基金项目： | 国家自然科学基金，高等学校博士学科点专项科研项目，湖北省自然科学基金 |
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| 摘 要： | 将滑模控制(SMC)引入模糊小脑模型关节控制器(FCMAC),提出了一种多变量滑模FCMAC(SFCMAC).该控制器采用滑模函数转换输入信号,减小输入空间以降低网络存储空间,分粗调和微调两阶段训练网络参数,以保证控制系统的稳定性.将所提出的SFCMAC用于仿人手臂的轨迹跟踪控制,并与SMC,MLP和FCMAC比较,仿真结果表明该控制器能克服系统非线性和不确定因素的影响,控制效果良好.
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| 关 键 词： | 仿人手臂控制 模糊小脑模型关节控制器 滑模控制 轨迹跟踪控制 李雅普诺夫稳定性 |
SFCMAC and its application to humanoid arm control |
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| Liu Shan,Wang Yongji,Fang Huijuan,Xu Qi. SFCMAC and its application to humanoid arm control[J]. JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE, 2008, 36(10) |
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| Authors: | Liu Shan Wang Yongji Fang Huijuan Xu Qi |
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| Abstract: | Sliding mode control(SMC) was used in fuzzy cerebellar model articulation controller(FCMAC).A multivariable sliding mode-based FCMAC(SFCMAC) is proposed in which sliding surface variables were specified as the input values of multivariable SFCMAC to reduce the memory spaces.SFCMAC was successively trained at the rough tuning stage and the fine tuning stage to guarantee the stability of the control scheme.The SFCMAC is applied on trajectory tracking control of the humanoid arm,and is compared with SMC,multilayer perceptron network(MLP) and FCMAC.Simulation results show that the SFCMAC is of excellent control quality. |
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| Keywords: | humanoid arm control fuzzy cerebellar model articulation controller(FCMAC) sliding mode control(SMC) trajectory tracking control Lyapunov stability |
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