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

摘要： 针对存在建模不确定性和外部干扰的机械臂系统,设计了一种结合标称计算力矩控制器和变论域模糊补偿器的复合控制方案,其中利用变论域自适应模糊控制器对建模不确定项进行估计和补偿,利用计算力矩控制器求解标称系统控制力矩。针对伸缩因子设计的自适应律使得变论域自适应模糊控制器在不同时刻适用于状态空间的不同区域,提高了系统的响应速度,大幅减小了系统的稳态跟踪误差,而且跟踪过程平稳柔顺、抖振极小,从而提升了系统的轨迹跟踪性能。仿真结果和实体试验结果均表明所提方法具有有效性。

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