摘要
为解决带有外部扰动的机械臂系统抗干扰跟踪控制问题,运用T-S模糊模型对外部干扰进行辨识,结合模糊干扰观测器实现对未知干扰的观测和补偿,进一步设计PID控制器实现对位移的动态跟踪.基于Lyapunov分析方法,计算PID增益和扰动观测器增益,保证机械臂系统稳定,使位移的动态跟踪误差趋于零.通过机器人系统的二阶模型进行仿真,验证了算法的可行性与有效性.
This paper addresses the anti-disturbance tracking control problem of robotic systems with exogenous disturbances.Different from the external disturbance that exists in general,it can be described by the T-S fuzzy model here,the fuzzy disturbance observer is used to observe and compensate the unknown disturbance and the PID controller is designed to implement dynamical tracing for the displacement of typical two-order robotic systems.By using the Lyapunov analytical method,the controller gain and the observer gain can be computed so that the dynamical tracking error of the displacement tends to be zero.The two order model of robotic systems is built to simulate.The satisfactory stability and the attitude tracking of the robotic system can be obtained via the designed algorithm.
作者
牛城波
于建江
裔扬
NIU Chengbo;YU Jianjiang;YI Yang(School of Information Engineering,Yangzhou Universty,Yangzhou 225127,China;School of Information Engineering,Yancheng Teachers University,Yancheng 224007,China)
出处
《扬州大学学报（自然科学版）》
CAS
北大核心
2019年第4期44-47,共4页
Journal of Yangzhou University：Natural Science Edition
基金
国家自然科学基金资助项目(61473249)
江苏高校青蓝工程资助项目
扬州大学拔尖人才成长计划资助项目
关键词
机械臂系统
PID控制
干扰观测器
T-S模糊
robotic systems
PID control
disturbance-observer-based control
T-S fuzzy
