考虑输入死区的柔性机械臂随机系统指令滤波模糊控制
Command Filtering Fuzzy Control for Stochastic System of Flexible Joint Manipulators with Dead-Zone Input
董元宝 1刘加朋 1于金鹏 1宿俊浩 1林崇2
作者信息
- 1. 青岛大学自动化学院,青岛 266071;山东省工业控制技术重点实验室,青岛 266071
- 2. 青岛大学自动化学院,青岛 266071
- 折叠
摘要
针对具有输入死区的柔性关节机械臂随机系统,提出了一种基于指令滤波技术的模糊自适应控制方法,实现了系统输出对期望轨迹的跟踪控制.首先,利用指令滤波技术解决了传统反步法固有的'计算复杂性"问题,引入误差补偿机制消除了滤波误差对系统控制精度的影响.然后,用模糊逻辑系统处理系统中的不确定项和随机扰动,克服了随机扰动的影响,改善了系统的控制效果.最后,考虑系统具有输入死区的情况,通过反步控制方法构造了控制信号,克服了输入死区对系统性能的不利影响.稳定性分析证明了所提出控制策略在具有输入死区的柔性关节机械臂随机系统中的有效性,并用Matlab仿真加以验证.
Abstract
A fuzzy adaptive control method based on command filtering technology is proposed for a stochastic system of flexible joint manipulators with dead-zone in-put,which achieves tracking control of the system output on the expected trajectory.Firstly,command filtering technology is used to solve the problem of"explosion of complexity"inherent in the traditional backstepping method,and error compensation mechanism is introduced to eliminate the influence of filtering errors on the system control precision.Then,a fuzzy logic system is utilized to deal with uncertainties and stochastic disturbances in the system,which overcomes the influence of stochas-tic disturbances and improves the control effect of the system.Finally,considering the system with dead-zone input,the control signal is constructed by backstepping control method,which conquers the adverse impact of dead-zone input on system per-formance.In the stability analysis,the effectiveness of the control strategy studied in the stochastic system of flexible joint manipulators with dead-zone input is proved,and it is verified by Matlab simulation.
关键词
柔性关节机械臂/指令滤波/模糊自适应控制/死区输入/随机扰动Key words
Flexible-joint manipulators/command filtering/fuzzy adaptive control/dead-zone input/stochastic disturbance引用本文复制引用
基金项目
国家自然基金项目(62473220)
教育"长江学者奖励计划"特聘教授项目(T2022265)
泰山学者工程专项(TSTP20221120)
山东省重点研发计划(2022CXGC020901)
出版年
2024
NETL
NSTL
万方数据