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采用自适应模糊滑模控制策略来实现欠驱动平面机械手的位置控制。定义滑模面为模糊输入,减少了模糊规则数量,模糊输出为通过自适应律在线调整幅值的单值函数,利用李亚普诺夫稳定性理论推导出自适应调整律,保证了系统的稳定性。提出的控制器由一个模糊滑模控制器和一个辅助控制器构成,模糊滑模控制器用来实现与滑模控制相等的控制律,辅助控制器用来补偿两者的差值,仿真结果表明了提出控制器的有效性和可行性。
The adaptive fuzzy sliding mode control strategy is adopted to realize the position control of underactuated planar manipulators. The sliding surface is defined as fuzzy input and the number of fuzzy rules is reduced. The fuzzy output is a single-valued function that adjusts the amplitude online by adaptive law. The adaptive regulation law is derived by Lyapunov stability theory to ensure the stability of the system. The proposed controller is composed of a fuzzy sliding mode controller and an auxiliary controller. The fuzzy sliding mode controller is used to achieve the same control law as the sliding mode control. The auxiliary controller is used to compensate the difference between the two. The simulation results show that The effectiveness and feasibility of the controller.