引用本文:吴玉香, 王　灏, 毛宗源, Peter K.S.TAM.机器人轨迹跟踪的间接自适应模糊控制(英文)[J].控制理论与应用,2004,21(5):748~756.[点击复制]
WU Yu-xiang, WANG Hao, MAO Zong-yuan, TAM Peter K.S.Fuzzy indirect adaptive controller for manipulator trajectory tracking applications[J].Control Theory and Technology,2004,21(5):748~756.[点击复制]
机器人轨迹跟踪的间接自适应模糊控制(英文)
Fuzzy indirect adaptive controller for manipulator trajectory tracking applications
摘要点击 2001  全文点击 1049  投稿时间：2002-05-13  
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DOI编号  10.7641/j.issn.1000-8152.2004.5.017
  2004,21(5):748-756
中文关键词  模糊控制  自适应控制  智能控制  最终一致有界
英文关键词  fuzzy control  adaptive control  intelligent control  uniform ultimate boundedness
基金项目  supportedbytheGuangdongProvincialNaturalScienceFoundationofChina ( 0 1162 6) .
作者单位
吴玉香, 王　灏, 毛宗源, Peter K.S.TAM 华南理工大学 自动化科学与工程学院,广东 广州 510640
香港理工大学,香港 
中文摘要
      为把已有的模糊控制算法应用于多自由度机器人的实时控制中,将间接自适应模糊控制算法从单输入单输出(SISO)系统推广至多输入多输出(MIMO)系统,并给出了系统收敛的严格数学证明.另外对于n关节的机器人轨迹跟踪问题,设计了一种新型控制器能够保证系统的最终一致有界性(u.u.b.).通过对具有远程独立电机驱动的双连杆机械臂的仿真试验证明了该方案的可行性.
英文摘要
      In order to apply the existing fuzzy control algorithm to real time control of multi-DOF robot manipulator,the (original) indirect adaptive fuzzy control algorithm was extended from the SISO case to the MIMO case,a strict mathematical description for each step was gave and its convergence was proved.The constructed controller was further shown to have the property of uniform ultimate boundedness (u.u.b.) and adopted for the control application of an n-link robot manipulator trajectory tracking.Simulated results with a 2-link revolute joint arm with remotely driven link were presented to demonstrate its feasibility.