基于模糊补偿的机械手鲁棒自适应模糊控制研究

摘要

There are friction characteristics, random disturbances, load variations and other nonlinear influencing factors in the multi-joint manipulator system generally. According to the problem that the traditional PID and fuzzy control are difficult to achieve rapid and high-precision tracking control for this kind of systems, a robust adaptive fuzzy control law is designed based on fuzzy compensation under the circumstance that the fuzzy information can be known and all the state variables can be measured. Simultaneously, in order to reduce the computational load of fuzzy approximation and improve the efficiency of mathematical operation, a method of distinguishing different disturbance compensation terms and approximating each of them respectively is adopted. The simulation results show that the robust a-daptive fuzzy control based on fuzzy compensation can restrain friction, disturbance, load variations and other nonlinear influencing factors.%多关节机械手系统中普遍存在摩擦特性、随机干扰及负载变化等非线性因素的影响.针对传统的PID控制和模糊控制很难对该类系统实现快速高精度的跟踪控制等问题,本文在模糊信息已知并且所有状态变量均可测得的情况下,设计了一种基于模糊补偿的鲁棒自适应模糊控制律.同时,为了减少模糊逼近的计算量,提高运算效率,采用了对不同的扰动补偿项加以区分、分别逼近的方法.仿真实验结果表明,这种改进的带模糊补偿的鲁棒自适应模糊控制可以很好地抑制摩擦、扰动及负载变化等非线性因素的影响.