计算机科学
控制理论(社会学)
弹道
控制器(灌溉)
跟踪误差
模糊逻辑
机器人
自适应控制
模糊控制系统
控制工程
控制(管理)
人工智能
工程类
物理
生物
农学
天文
作者
Mingsi Tong,Weiyang Lin,Xiang Huo,Zishu Jin,Chengzong Miao
标识
DOI:10.1177/1729881419894417
摘要
According to the robot’s dynamics, a high performance algorithm based on dynamic surface control is introduced to track desired trajectory, and simulations are conducted on a selective compliance assembly robot arm-type manipulator to verify the algorithm. The traditional dynamic surface control is designed based on dynamic model, which requires exact model information. Due to the model uncertainty and complex environments, the tracking performance of the controller can be significantly decreased. Therefore, a model-free fuzzy adaptive dynamic surface controller is designed, by adopting a fuzzy system with Lyapunov self-adaptation law. The new controller efficiently improves the dynamic quality. The simulation results prove that the designed model-free controller ensures that all the states and signals of the closed-loop system are bounded, the system has a faster response speed and smaller steady-state error comparing with the traditional dynamic surface control using the selective compliance assembly robot arm model, and the tracking error converge to a very small scale. Besides, the proposed algorithm can track the desired trajectory with high performance without the prior knowledge of specific parameters from the experimental manipulator, which simplifies the complexity of building the control system.
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