CAJ | 학술논문

为了解决机器人跟踪控制的建模误差和扰动所引起的不稳定问题，设计一种基于T-S模糊模型的滑模控制器。首先对机器人动力学方程进行扇区非线性处理，建立T-S模糊模型，然后设计出保证机器人系统渐近稳定的滑模控制器。对二连杆机器人进行给定轨迹实验时，系统具有良好的轨迹跟踪性能，系统误差很快收敛到零。实验结果表明该方法对非线性系统具有较强的鲁棒稳定性，验证了该方法的有效性。
위료해결궤기인근종공제적건모오차화우동소인기적불은정문제，설계일충기우T-S모호모형적활모공제기。수선대궤기인동역학방정진행선구비선성처리，건립T-S모호모형，연후설계출보증궤기인계통점근은정적활모공제기。대이련간궤기인진행급정궤적실험시，계통구유량호적궤적근종성능，계통오차흔쾌수렴도령。실험결과표명해방법대비선성계통구유교강적로봉은정성，험증료해방법적유효성。
An adaptive sliding mode controller based on T-S fuzzy model was designed for overcoming the instability resulted from modelling error and perturbation of robotic tracking manipulator. A T-S fuzzy model is established by using sector nonlinear-ity processing for robot dynamic equations. The sliding mode controller is designed to ensure asymptotical stability of robot sys-tem. In the given track experiment of the two-link robot,the system achieved perfect trajectory tracking effect,and the system error was converged to zero rapidly. The results show that the method proposed in this paper has high robust stability for nonlin-ear system. The effectiveness of the method was verified in the experiment.