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针对欠驱动机械臂平衡控制精度低,鲁棒性差,抗干扰空间狭窄,起摆成功率低等问题,提出了一种基于T-S模糊结构和线性调节理论的欠驱动机械臂平衡控制策略,并实现了一种新的起摆-平衡控制方式。首先将系统设定的状态空间分为若干个模糊子空间,通过线性二次型最优理论和线性调节理论,在每个模糊子空间建立局部控制器,保证系统在每个局部子空间中平衡,并最终收敛于给定平衡点,然后使用隶属函数平滑的将各个局部控制器连接起来,最终得到非线性控制对象的模糊平衡控制器,实现了欠驱动机械臂在任意给定点的平衡控制。实验结果表明,所提出的控制策略控制精度高,抗干扰范围大,鲁棒性强,起摆成功率高,并且易于实现,具有较高的推广和应用价值。
Aimed at the problems of low precision, poor robustness, narrow space for anti-jamming and low success rate of the pendulum, the control strategy of underactuated manipulator based on TS fuzzy structure and linear adjustment theory is proposed and implemented A new pendulum - balance control method. Firstly, the state space set by the system is divided into several fuzzy subspaces. By using the linear quadratic optimization theory and the linear regulation theory, a local controller is established in each fuzzy subspace to ensure that the system is balanced in each local subspace , And finally converge to a given equilibrium point, and then use the membership function to smooth each local controller connected to the final control of the fuzzy control of non-linear balance of the controller to achieve under-actuated arm at any given point of balance control. The experimental results show that the proposed control strategy has the advantages of high control precision, wide range of anti-interference, strong robustness, high success rate of pendulum and easy to implement, which has high promotion and application value.