柔性机器人基于自适应模糊动态面的实用稳定控制

摘要

针对单连杆柔性机器人系统,提出了一种基于自适应模糊动态面的实用稳定控制方法.对于未知或时变函数,采用自适应模糊逼近,进而予以补偿.通过动态面控制避免了Backstepping设计带来的计算膨胀问题,简化了控制器的结构.所设计的控制器保证了闭环系统的实用稳定性.仿真结果验证了所提出控制器的有效性.%Practical stable control based on adaptive fuzzy dynamic surface scheme was presented for single - link flexible robots. The unknown and time - varying functions were compensated by adaptive fuzzy approximators. By using DSC design technique, the proposed control system can overcome the problem of "explosion of complexity" inherent in the Backstepping design methods. Thus, the structure of the controller was simplified. The proposed controller guarantees the practical stability of the closed-loop system. Finally, simulation results show the effectiveness of the proposed controller.