Study on Tracking Control of Sliding Mode Observer Coupled Fuzzy Compensator with Manipulator
The manipulator has both structured and unstructured uncertainties,and these uncertainties cause the performance of the manipulator to decrease.For the output feedback tracking control of the manipulator,this paper uses a controller based on high-order sliding mode observer and fuzzy compensator to realize the effective control of the manipulator,and the control effect is simulated and verified.A simplified model of the manipulator is established,and its kinematics and dynamic equations are con-structed.The traditional calculated torque controller is introduced.On this basis,the high-order sliding mode observer is used to reconstruct the velocity and uncertainty from the position measurement value,and the fuzzy compensator is used to compensate the uncertainty compensation error.The high-order sliding mode observer and Controller of fuzzy compensator.The mathematical software MATLAB is used to simulate the manipulator system.At the same time,it is compared and analyzed with the calculation results of the traditional calculation torque controller.The simulation results show that the joint tracking error and end position er-ror fluctuation range of the manipulator based on the high-order sliding mode observer and fuzzy compensator controller are re-duced by about 50％,the convergence speed is faster,and the tracking accuracy is also improved.The controller based on high-order sliding mode observer and fuzzy compensator can improve the tracking performance of the manipulator.
万方数据
维普
