一种前馈补偿和模糊滑模相结合的柔性机械臂控制

党进 1; 倪风雷 1; 刘业超 1; 刘宏 1; 2

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一种前馈补偿和模糊滑模相结合的柔性机械臂控制

更新时间：2025-07-09

- 一种前馈补偿和模糊滑模相结合的柔性机械臂控制
- Control Strategy for Flexible Manipulator Based on Feedforward Compensation and Fuzzy-Sliding Mode Control
- 西安交通大学学报 2011年45卷第3期页码：75-80
- 作者机构：
  
  哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨,150001
- 作者简介：
- 基金信息：
  
  : 2010-05-18. 作者简介: 党进(1980-),男,博士生;刘宏(联系人),男,教授,博士生导师. 基金项目: 国家高技术研究发展计划资助项目(2006AA04Z228);教育部“111创新引智计划”资助项目(B07018)
- DOI：
  中图分类号： TP24
- 网络首发：2011-03-10，
  
  纸质出版：2011
- 稿件说明：
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党进 1, 倪风雷 1, 刘业超 1, 等. 一种前馈补偿和模糊滑模相结合的柔性机械臂控制[J]. 西安交通大学学报, 2011,45(3):75-80.

Control Strategy for Flexible Manipulator Based on Feedforward Compensation and Fuzzy-Sliding Mode Control[J]. 2011, 45(3): 75-80.
党进 1, 倪风雷 1, 刘业超 1, 等. 一种前馈补偿和模糊滑模相结合的柔性机械臂控制[J]. 西安交通大学学报, 2011,45(3):75-80. DOI：

Control Strategy for Flexible Manipulator Based on Feedforward Compensation and Fuzzy-Sliding Mode Control[J]. 2011, 45(3): 75-80. DOI：

摘要

针对柔性关节机器人控制系统中存在的扰动力、摩擦力、参数变化以及建模误差等问题

将扰动力分为确定性扰动和不确定性扰动、摩擦力分为线性和非线性部分

并在此基础上提出了一种前馈补偿和模糊滑模相结合的鲁棒控制器.机器人自身结构的相关量、确定性扰动以及摩擦力的线性部分

可以通过控制器的计算力矩和前馈补偿部分进行有效控制

并通过模糊滑模控制器来克服外界的不确定性扰动、摩擦力的非线性部分、参数变化以及建模误差等.在HIT四自由度柔性机械臂上进行了控制器的相关实验

实验结果表明

该控制器具有良好的位置跟踪性能和较强的抗干扰能力.

Abstract

Considering external disturbance

friction

parameters variation

modeling errors and other issues in flexible joint robot control system

the external disturbance is divided into deterministic part and uncertainty part

and the friction into linear part and nonlinear part

then a new structure robust controller based on the combination of feedforward compensation and fuzzy sliding mode control is proposed. The controller consists of two parts

the part associated with the robot structure itself

deterministic disturbance and the linear part of the friction can be eliminate effectively by computed torque and feedforward compensation. And the fuzzy-sliding mode control of the proposed controller can compensate the external uncertainty disturbance

nonlinear part of friction

parameters variation

modeling error and so on. The experiment results on the platform of HIT four degrees of freedom flexible manipulator show the good position tracking performance and strong anti-interference ability.

关键词

Keywords

references

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采用模块化思想的汽车电器智能化设计方法.西安交通大学学报, 2010,44(5):111-115.

免疫单神经元PID控制在永磁交流伺服系统中的应用.西安交通大学学报, 2010,44(4):76-82.

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采用计算流体力学数值模拟的比例积分控制器. 西安交通大学学报, 2009,43(5):90-93.

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