关键词: 机械臂, 轨迹跟踪, 变论域模糊控制, 自适应控制, 计算力矩控制

Abstract: Considering the uncertainty of model and the external disturbance of manipulator systems,a compound control scheme was proposed by combining the variable universe fuzzy compensator with the calculation torque controller,in which the variable universe fuzzy controller was used to identify and compensate for uncertain items,the calculation torque controller was used to solve the nominal control torque.An adaptive law for expansion factor was designed such that the variable universe fuzzy compensator could adapt to different regions of state space as the time evolves and thus improved the convergence speed.Meanwhile,the tracking performance was effectively increased since the steady-state error was decreased extensively and the running process was smooth and flexible.The results of simulations and experiments illustrated the validity of the proposed methods together.

Key words: manipulator, trajectory tracking, variable universe fuzzy control, adaptive control, calculation torque controller