Research on Manipulator Trajectory Tracking Based on Adaptive Fuzzy Sliding Mode Control

被引：0
|
作者：
Yang, Shichun [1 ]
Xie, Hehui [1 ]
Chen, Fei [1 ]
Zhang, Junbing [1 ]
Feng, Song [1 ]
Liu, Jian [1 ]
机构：
[1] Beihang Univ, Sch Transportat Sci & Engn, Beijing, Peoples R China
来源：
2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年
基金：
国家重点研发计划;
关键词：
Manipulator; Adaptive control; Fuzzy control; Sliding mode control;
D O I：
10.1109/CAC51589.2020.9326821
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Manipulator has the characteristics of high nonlinearity and strong coupling, which is easily affected by external factors, making the system instability. Based on the above problems, an adaptive fuzzy sliding mode control method is designed to study the trajectory tracking problem of manipulator in the paper. Firstly, a two-degree-of-freedom dynamic model of the manipulator is established according to the Lagrangian equation, and then an adaptive fuzzy sliding mode control algorithm for the manipulator is proposed and the Lyapunov function is used to prove the convergence and stability of the algorithm. The simulation results show that the adaptive fuzzy sliding mode control can make each joint of the manipulator respond to the desired trajectory quickly, and the tracking error converges to zero within a certain time, which has achieved excellent control effect and verified the effectiveness of the algorithm.
引用
收藏
页码：3086 / 3091
页数：6
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