摘要
针对机械臂控制中各子系统间交联项难于处理的问题,提出了一种基于扩张状态观测器(extended state observer,ESO)和模糊策略的分散控制方法.将机械臂系统考虑为各关节交联子系统的集合,采用扩张状态观测器去实时估计机械臂各关节间的状态、耦合交联项及非线性项,利用模糊系统去逼近机械臂动力学模型中的建模不确定项,从而设计分散自适应模糊控制器以实现机械臂的轨迹跟踪控制,给出了控制器中参数的自适应更新律,并对该控制器进行了Lya-punov稳定性分析.最后将该方法应用于一个4自由度机械臂的轨迹跟踪控制中,仿真结果表明了该方法对处理耦合交联项及在各关节轨迹跟踪控制中的有效性.
A decentralized control method based on the extended state observer and fuzzy strategies for manipulators with interconnection terms is presented. The manipulator system is considered for the set of crosslinking joint subsystems, and the extended state observer （ESO） is adopted to estimate real timely states of each joint and the interconnection terms of the joints and nonlinear terms. Modeling uncertain terms are approached by the fuzzy system so as to design the decentralized adaptive fuzzy controller to achieve trajectory tracking control. The adaptive update law of controller parameter is giv en and controller stability is analyzed by the Lyapunov theory. The proposed method is applied to the trajectory tracking control of 4DOF manipulators. Simulation results show the effectiveness of the pro posed method in treatment of the interconnection terms and trajectory tracking control of each joint.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2012年第A01期192-195,共4页
Journal of Southeast University：Natural Science Edition
基金
国家自然科学基金资助(60974010)
吉林省科技发展计划资助项目(20110705)
关键词
机械臂
分散控制
模糊控制
扩张状态观测器
manipulator
decentralized control
fuzzy control
extended state observer （ESO）
