基于模糊免疫pd型控制器的机器人轨迹跟踪控制

Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788) Pub Date : 2004-06-15 DOI:10.1109/WCICA.2004.1343653

J. Xin, Ding Liu, Yanxi Yang

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引用次数: 7

摘要

基于机器人机械臂的动态非线性特性，提出了一种用于机器人轨迹跟踪的模糊免疫pd型控制算法。该算法将模糊控制、生物免疫反馈机制与传统PID控制相结合。在该算法中，抑制单元的抑制数由一个非线性函数来描述，该函数由一个二维模糊控制器来逼近。该算法能够克服机器人动力学模型参数在10% ~ 190%的随机变化范围内建模误差和参数变化的影响。对二自由度机器人机械手的仿真和实验结果表明，该控制方案比传统PD控制器具有更好的跟踪精度、更强的鲁棒性和优越的控制性能。

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Robot trajectory tracking control based on fuzzy immune PD-type controller

Based on the dynamic nonlinearities of robot manipulators, a fuzzy immune PD-type control algorithm is proposed for robot trajectory tracking. The algorithm combines fuzzy control, immune feedback mechanism of organism with conventional PID control. In the algorithm, the suppression number of suppression cells is described by a nonlinear function, which is approximated by a 2D fuzzy controller. The given algorithm can overcome the influence of modeling error and parameter varying when robot dynamic model parameters change from 10% to 190% randomly. Simulation and experimental results of 2DOF robot manipulator show that the control scheme has better tracking precision, stronger robustness and superior control performance to conventional PD controller.

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来源期刊

Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788)

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