|本期目录/Table of Contents|

[1]刘华山,朱世强,王宣银.扭矩输入有界的机器人模糊PD轨迹跟踪[J].电机与控制学报,2010,(01):78-83.
 LIU Hua-shan,ZHU Shi-qiang,WANG Xuan-yin.Trajectory tracking control for robot manipulators with bnounded torque inputs via fuzzy PD[J].,2010,(01):78-83.
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扭矩输入有界的机器人模糊PD轨迹跟踪(PDF)
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
期数:
2010年01
页码:
78-83
栏目:
出版日期:
2010-01-30

文章信息/Info

Title:
Trajectory tracking control for robot manipulators with bnounded torque inputs via fuzzy PD
作者:
刘华山; 朱世强; 王宣银
浙江大学流体传动及控制国家重点实验室
Author(s):
LIU Hua-shan; ZHU Shi-qiang; WANG Xuan-yin
State Key Lab of Fluid Power Transmission and Control; Zhejiang University; Hangzhou 310027; China
关键词:
机器人 轨迹跟踪 输入有界 模糊控制 奇异摄动
Keywords:
robot tracking control bounded input fuzzy control singular perturbation
分类号:
TP242
DOI:
-
文献标志码:
A
摘要:
针对轨迹跟踪控制中机器人关节驱动器输出扭矩受限的问题,提出一种基于模糊自适应PD的输入有界轨迹跟踪控制算法。不同于以往的控制策略,该算法在控制律中引入具有饱和特性的改进反正切函数,以确保扭矩控制输入的有界性,并结合模糊自适应原理实现PD增益的在线自整定,以改善系统的动态特性。通过对位置跟踪误差进行线性滤波得到速度跟踪误差替代信号,使得整个系统的闭环控制仅需位置输出反馈。利用奇异摄动理论对系统进行了稳定性分析,证明在一定约束下的PD增益自整定过程中,仍能保证系统稳定。仿真和比较结果表明,该算法能够在严格保证控制输入有界的前提下,减小超调量,缩短系统调整时间,具有更优的轨迹跟踪性能。
Abstract:
To deal with the problem of trajectory tracking control of robots with bounded torque inputs,a novel tracking algorithm with bounded inputs based on fuzzy self-tuning proportional and derivative(PD) gains was proposed.Compared with the previous strategies,the boundedness of torque control inputs was guaranteed by invoking a modified arc tangent function with saturation features,and the dynamic characteristics were improved by the online self-tuning of PD gains,combining with fuzzy adaptive theory.Moreover,a...

参考文献/References:

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备注/Memo

备注/Memo:
浙江省面上科研工业项目(2008C21106)
更新日期/Last Update: 2010-06-03