| PHANTOM Omni机器人的自适应模糊滑模控制 |
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| 引用本文： | 韩 瑞,刘 霞.PHANTOM Omni机器人的自适应模糊滑模控制[J].计算机应用研究,2018,35(11). |
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| 作者姓名： | 韩 瑞 刘 霞 |
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| 作者单位： | 西华大学电气与电子信息学院,西华大学电气与电子信息学院 |
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| 基金项目： | 国家自然科学(61305104)；四川省杰出青年科技(2017JQ0022)；四川省科技支撑计划项目(2016GZ0395)；教育部春晖计划项目(Z2015107)；四川省教育厅重点科研(17ZA0359)；研究生创新(ycjj2017166) |
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| 摘 要： | 针对PHANTOM Omni机器人的位置轨迹跟踪问题,采用了一种基于模糊逻辑的自适应模糊滑模控制方案。利用滑模控制中的切换函数作为输入,根据模糊系统的逼近能力设计控制器,并基于李雅谱诺夫方法设计自适应律对控制器所需参数进行实时调节。仿真中将其与传统的滑模控制进行了比较,仿真结果表明：自适应模糊滑模控制能使PHANTOM Omni机器人更好地实现期望的位置轨迹跟踪并有效地减轻抖振现象,从而证明了该方法在PHANTOM Omni机器人上实施的可行性。
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| 关 键 词： | PHANTOM Omni机器人 滑模控制 模糊系统 自适应律 位置轨迹跟踪 |
| 收稿时间： | 2017/5/28 0:00:00 |
| 修稿时间： | 2018/9/25 0:00:00 |
Adaptive Fuzzy Sliding Mode Control of PHANTOM Omni Robot |
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| HAN Rui and LIU Xia.Adaptive Fuzzy Sliding Mode Control of PHANTOM Omni Robot[J].Application Research of Computers,2018,35(11). |
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| Authors: | HAN Rui and LIU Xia |
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| Affiliation: | School of Electrical and Electronic Information,Xihua University, |
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| Abstract: | For the position trajectory tracking of PHANTOM Omni robot, an adaptive fuzzy sliding mode control scheme based on fuzzy logic is adopted. The controller is designed using the switching function of sliding mode control as the input and the approximation ability of fuzzy system. Then the adaptive law is designed based on the method of Lyapunov stability to update the parameters of the controller on-line. In the simulations, the adaptive fuzzy sliding mode control is compared to the traditional sliding mode control. The simulation results show that the adaptive fuzzy sliding mode control can achieve better position trajectory tracking and effectively reduce the chattering phenomenon. As a result, it demonstrates the feasibility of the adaptive fuzzy sliding mode control on PHANTOM Omni robot. |
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| Keywords: | PHANTOM Omni robot sliding mode control fuzzy system adaptive law position trajectory tracking |
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