【摘要】 现有的机械臂模糊变结构控制方法大都计算复杂或需要检测滑模面的微分信号.本文将机械臂模型分为确定部分和不确定部分进行研究,对确定部分采用一般反馈控制,对不确定部分采用变结构集中补偿控制,为了消除变结构控制器的抖震引入模糊控制方法,将滑模面作为模糊控制器的输入,补偿控制器权值作为输出.本方案不仅不需要检测滑模面微分信号,而且计算简单,易于实现.仿真结果表明,在存在模型误差和外部扰动的情况下,该方案既能达到快速跟踪,又能很好的消除控制器的抖震.更多还原

【Abstract】 The existing fuzzy variable structure control methods for robotic manipulators are mostly complicated to calculate,or need to examine the differential signal of sliding surface.In this paper,the robotic manipulator is divided into certain part and uncertain part.The normal feedback controller is used to control the certain part,while the variable structure concentrated compensation control is adopted for the latter.In order to eliminate chattering of variable structure controller,the fuzzy control method is introduced,in which the sliding surface is regarded as the input of fuzzy controller while the output is the weight of compensation controller.The proposed scheme need not examine the differential signal of sliding surface,the calculation is simple,and is easy to realize.The results of simulation show that the scheme can achieve fast tracking and greatly eliminate chattering of controller under the condition of existing model error and external disturbance.更多还原