基于输入受限的不确定机械臂的自适应模糊动态面控制
Self-adaptive fuzzy dynamic surface control of uncertain manipulator based on input constraint
程佳 1张国玲 1徐鹏跃 1王涛2
作者信息
- 1. 沧州职业技术学院,河北沧州 061000
- 2. 河北工业大学 机械工程学院,天津 300401
- 折叠
摘要
文中针对一类输入受限和外部扰动的n关节机械臂系统提出了一种自适应模糊动态面控制方案.首先,利用模糊逻辑系统来估计机械臂系统的不确定性;然后,基于双曲正切函数tanh性质与平均值定理,在backstepping法中的每一步加入动态面控制的方法设计自适应模糊控制器.文中所提出的控制方法不仅可以确保机械臂的跟踪误差最终收敛到原点的一个小邻域,而且还能保证闭环系统中的所有信号均为半全局一致最终有界.最后,提供了一个两关节机械臂的数值仿真以展示所提出的控制方法的有效性.
Abstract
In this article,a scheme of adaptive fuzzy dynamic surface control is proposed for a type of n-joint manipulator systems with limited input and external disturbance.Firstly,the fuzzy logic system is used to estimate the manipulator system's uncertainty.Then,according to the hyperbolic tangent function tanh and the average value theorem,dynamic surface control is added at each step of the backstepping method,so as to design the self-adaptive fuzzy controller.The control method not only en-sures that the manipulator's tracking error eventually converges to the origin's small neighborhood,but also guarantees that all signals in the closed-loop system are semi-globally consistent and ultimately bounded.Finally,a two-joint manipulator is subject to numerical simulation,in order to demonstrate that the control method is effective.
关键词
不确定机械臂/模糊逻辑系统/动态面控制/输入受限Key words
uncertain manipulator/fuzzy logic system/dynamic surface control/input constraint引用本文复制引用
出版年
2024
NETL
NSTL
万方数据