控制理论(社会学)
执行机构
控制工程
模糊逻辑
滑模控制
操纵器(设备)
计算机科学
工程类
模式(计算机接口)
模糊控制系统
控制(管理)
机械臂
人工智能
非线性系统
物理
操作系统
量子力学
作者
Fang Li,Zheng Zhang,Yang Wu,Yining Chen,Kai Liu,Jiafeng Yao
出处
期刊:Robotica
[Cambridge University Press]
日期:2022-04-22
卷期号:40 (8): 2683-2696
被引量:12
标识
DOI:10.1017/s0263574721001909
摘要
Abstract Pneumatic muscle actuator (PMA) similar to biological muscle is a new type of pneumatic actuator. The flexible manipulator based on PMAs was constructed to simulate the actual movement of the human upper arm. Considering the model errors and external disturbances, the fuzzing sliding mode control based on the saturation function was proposed. Compared with other fuzzy control methods, fuzzy control and saturation function are used to adjust the robust terms to improve the tracking accuracy and reduce the high-frequency chattering.
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