机器人机械臂的高级区间二型模糊滑模控制
Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator.
作者信息
Hwang Ji-Hwan, Kang Young-Chang, Park Jong-Wook, Kim Dong W
机构信息
Republic of Korea Naval Logistics Command, P.O. Box 602, Hyeon-dong, Jinhae-gu, Changwon-si, Gyeongsangnam-do 645-798, Republic of Korea.
Department of Computer Engineering, Gachon University, Bokjeong-dong, Sujeong-gu, Seongnam-si, Gyeonggi-do 461-701, Republic of Korea.
出版信息
Comput Intell Neurosci. 2017;2017:9640849. doi: 10.1155/2017/9640849. Epub 2017 Feb 8.
In this paper, advanced interval type-2 fuzzy sliding mode control (AIT2FSMC) for robot manipulator is proposed. The proposed AIT2FSMC is a combination of interval type-2 fuzzy system and sliding mode control. For resembling a feedback linearization (FL) control law, interval type-2 fuzzy system is designed. For compensating the approximation error between the FL control law and interval type-2 fuzzy system, sliding mode controller is designed, respectively. The tuning algorithms are derived in the sense of Lyapunov stability theorem. Two-link rigid robot manipulator with nonlinearity is used to test and the simulation results are presented to show the effectiveness of the proposed method that can control unknown system well.
本文提出了一种用于机器人机械手的先进区间二型模糊滑模控制（AIT2FSMC）。所提出的AIT2FSMC是区间二型模糊系统和滑模控制的结合。为了类似于反馈线性化（FL）控制律，设计了区间二型模糊系统。为了补偿FL控制律和区间二型模糊系统之间的逼近误差，分别设计了滑模控制器。在李雅普诺夫稳定性定理的意义下推导了调整算法。使用具有非线性的双连杆刚性机器人机械手进行测试，并给出仿真结果以表明所提方法能够很好地控制未知系统的有效性。
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