Adaptive Double Fuzzy Sliding Mode Control for Three links Spatial Robot

doi:10.3969/j.issn.0253-374x.2012.04.021

Home > Archive>Volume 40, Issue 4, 2012 >0622-0628. DOI:10.3969/j.issn.0253-374x.2012.04.021

Adaptive Double Fuzzy Sliding Mode Control for Three links Spatial Robot
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                        10.3969/j.issn.0253-374x.2012.04.021
                    
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Abstract:

为了提高空间三关节机器人轨迹跟踪控制性能，提出了一种带双模糊自适应控制的滑模控制新方法.该方法将滑模控制器分为等效控制和切换控制两部分.采用一个模糊自适应控制器，根据滑模到达条件对切换增益进行有效估计.采用另一个模糊自适应控制器，根据滑模面来调整切换控制项.这些控制器结合起来消除了抖振，提高了控制性能.系统的稳定性通过李亚普诺夫定理证明.最后进行了仿真实验，并与其他方法进行了对比分析.结果表明所提方法是有效的.

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HU Shengbin, LU Minxun. Adaptive Double Fuzzy Sliding Mode Control for Three links Spatial Robot[J].同济大学学报(自然科学版),2012,40(4):0622~0628

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Received:January 14,2011
Revised:January 07,2012
Adopted:June 23,2011
Online: April 27,2012
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