双连杆空间机器人的直接自适应模糊控制

2011 16th International Conference on Methods & Models in Automation & Robotics Pub Date : 2011-09-29 DOI:10.1109/MMAR.2011.6031360

S. Ulrich, J. Sasiadek

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引用次数: 4

摘要

针对两连杆刚性关节空间机器人的轨迹跟踪问题，提出了一种自适应模糊逻辑控制方案。该控制策略基于直接自适应控制方案，根据模糊逻辑系统实时调整控制器增益，使参考模型与实际机器人系统输出之间的跟踪误差为零。

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Direct adaptive fuzzy control for a two-link space robot

An adaptive fuzzy logic control scheme is developed for tracking a square trajectory by the endpoint of a two-link rigid joint space robot. The control strategy is based on a direct adaptive control scheme in which the controller gains are adapted in real-time according to fuzzy logic systems such that the tracking errors between a reference model and the actual robot system outputs are brought to zero.

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2011 16th International Conference on Methods & Models in Automation & Robotics

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