受限机械臂的自适应小波滑模位置/力混合控制

针对终端运动受约束的机械臂位置/力混合控制问题,提出了一种自适应小波滑模控制算法.该控制方案将滑模控制的鲁棒性及自适应调整能力与小波神经网络相结合,根据坐标变换得到降阶位置/力模型,针对降阶模型采用小波神经网络在线学习系统未知动力学模型中的非线性部分,同时引入滑模控制自动调整小波网络权值参数,从而对神经网络的固有逼近误差进行有效补偿,达到期望的跟踪性能.二自由度机械臂的仿真结果表明该控制器能保证系统快速有效跟踪指定参考信号.

Hybrid position/force control of a constrained manipulator using adaptive wavelet sliding mode

The hybrid position/force control of the robotic manipulator whose motion was constrained in the end was discussed.An adaptive wavelet sling mode control strategy was proposed,in which integrating the robustness and self-adjustment advantages of sliding mode control were integrated into the wavelet network controller.A reduced position/force model was obtained according to the nonlinear translation,a wavelet network was used to learn the unknown nonlinear dynamic of system.Simultaneous,the sliding mode tech...