串联机器人的双模糊自适应滑模控制

摘要

提出了一种串联机器人的改进控制算法。采用一自适应模糊控制器，根据滑模到达条件对滑模切换增益进行估算，消除滑模控制中输出力矩的抖振现象，增强其对不确定性因素的适应能力。采用另一自适应模糊控制器对指数趋近律系数进行修正，改善由于大范围初始位姿产生的偏差而引起的大力矩和速度跳变问题。该方法无需确定被控对象的具体数学模型，具有强鲁棒性和高跟踪精度。基于Lyapunov方法进行了稳定性证明，保证控制系统的稳定性与收敛性。实验结果表明，该方法应用于串联机器人，跟踪效果良好并产生了平滑的力矩输出和速度输出。%An improved algorithm of the serial robots control is proposed. An adaptive fuzzy controller is used to estimate the sliding mode switch gain according to its reaching conditions , eliminating the chattering of output torque in sliding mode control and enhancing its adaptive ability to uncertainties.And another adaptive fuzzy controller is utilized to amend exponential reaching law coefficient, also to improve big torque and speed jump problem caused by a wide range of initial position deviation. It doesn’t need to know specific mathematical model of controlled object, and has strong robustness and high tracking precision. The stability is proved in the design process based on the method of Lyapunov, guaranteeing the stability and convergence of the control system. Experimental results show that this method applied to serial robots, has a good tracking effect and smooth outputs of torque and speed.