T-S 模糊模型变结构的机器臂轨迹跟踪控制

针对不确定性的机械臂轨迹跟踪问题,结合滑模变结构和T-S模糊模型的优点,给出一种基于T-S模糊模型的变结构轨迹跟踪的方法。首先采用T-S模型建模,得到机械臂的模糊模型;然后设计出保证机械臂全局渐近稳定的滑模控制器。仿真结果表明,所设计的模糊变结构控制器与普通变结构控制器相比,可使机械臂无论在计算时间、误差上都具有更大的优势和更强的鲁棒性。

T-S Fuzzy Model Variable Structure Tracking Control of Robot

Uncertainty of the robot arm for the trajectory tracking problem, combined with sliding mode and TS fuzzy model has the advantage, given TS fuzzy model based on variable structure tracking methods. First, the use of TS modeling, to be arm＇s fuzzy model; and then design a robot arm to ensur~ global asymptotic stability of sliding mode controller. Simulation results show that the design of the fuzzy variable structure controller with an ordinary variable structure controllers, enable robotic arm in terms of computing time, the error on has a greater advantage and more robust.