Quadratic Fuzzy Approximation of Nonlinear Control Trajectory of Flexible Multi-joint Mobile Robot
In order to improve the low control accuracy of flexible multi-joint mobile robot under nonlinear control trajectory,a fuzzy approximation method under nonlinear control is proposed.The dynamic model of the robot is established,and the vector parameters are set according to the dynamic characteristics to dynamically correct the error disturbance.The vector parameters are taken as the initial input value and the weighted average and product reasoning method is adopted to make the vector conform to the adaptive law.The output value of the controller is approximated by the fuzzy approximation function until it conforms to the initial setting value.The control output value is approximated by the Lyapunov function twice to complete the nonlinear trajectory control.Taking the trajectory of B-spline curve as an example,the experimental data show that this quadratic approximation control method has high control accuracy under nonlinear trajectory,stable output torque of the controller and strong practical performance.
万方数据
维普
