新型可重构机器人的模糊自适应控制研究

陈思安, 葛为民, 王肖锋, 刘增昌, 刘军

控制工程 ›› 2017, Vol. 24 ›› Issue (11) : 2399-2404.

控制工程 ›› 2017, Vol. 24 ›› Issue (11) : 2399-2404.

新型可重构机器人的模糊自适应控制研究

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Fuzzy Adaptive Control of a Novel Reconfigurable Robot

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摘要

针对一类新型可重构机器人的构型自适应控制问题,采用牛顿—欧拉迭代方法自动生成其通用形式的动力学方程。对方程中含摩擦力及外部扰动的模型不确定项,提出一种模糊自适应算法加以逼近,基于李亚普诺夫稳定性理论设计模糊算法权值参数的自适应调节律,保证闭环系统的稳定性。针对系统存在建模误差问题,引入鲁棒项对其整体补偿以提高系统抗干扰能力。最后,将所提算法应用于3个单元模块所组成的可重构机器人中,采用一机器人的两种不同构型进行对比试验,结果显示该方法能快速适应可重构机器人的构型改变,具有良好的跟踪性能,验证了算法的有效性和可行性。

Abstract

 A fuzzy adaptive control strategy is proposed to study the adaptive position tracking control of a novel reconfigurable robot system. The proposed fuzzy adaptive controller can approximate the model uncertainty of systems, referring mainly to the friction and external disturbance in the automatic generated Newton-Euler dynamic equations. The Lyapunov synthesis approach is used to tune the output weight of the fuzzy controller adaptively in order to guarantee the stability of the closed-loop control system. A robust term is adopted to minify the influence of the modeling error and enhance the whole system's robustness. Finally, the proposed adaptive controller is applied to two different configurations of the same reconfigurable robot which is composed of three modules, and the comparison experiment results show that this control method can quickly adapt to the configuration changes and has good tracking performance, which demonstrates the effectiveness and feasibility of the proposed method.

关键词

可重构机器人 / 模糊自适应控制 / 位姿跟踪 / 构型自适应

Key words

Reconfigurable robot / fuzzy adaptive control / pose tracking / configuration adaptiveness

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陈思安, 葛为民, 王肖锋, 刘增昌, 刘军.

新型可重构机器人的模糊自适应控制研究 [J]. 控制工程, 2017, 24(11): 2399-2404

CHEN Si-an, GE Wei-min, WANG Xiao-feng, LIU Zeng-chang, LIU Jun.

Fuzzy Adaptive Control of a Novel Reconfigurable Robot [J].

Control Engineering of China, 2017, 24(11): 2399-2404

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