基于Takagi-Sugeno描述子模型的稳健H∞模糊方法设计。二自由度串行机械手跟踪控制的应用

Van Anh Nguyen Thi, Duc Binh Pham, D. H. Nguyen, T. Nguyen
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引用次数: 0

摘要

摘要本文主要研究机器人机械手的轨迹跟踪控制问题。虽然在这个问题上已经做了很多研究,但这个领域的许多其他方面还没有得到充分解决。本文提出了一种利用前馈控制器消除参数不确定性和未知干扰的新方法。采用Takagi-Sugeno模糊描述系统(TSFDS)来描述机器人的动态特性。该模糊系统与鲁棒的H∞性能相结合,使系统几乎不受外界因素的影响。基于李雅普诺夫稳定性理论的线性矩阵不等式被用于控制设计。仿真结果证明了该方法的有效性。
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Robust H∞ Fuzzy Approach Design Via Takagi-Sugeno Descriptor Model. Application for 2-DOF Serial Manipulator Tracking Control
Abstract This paper focuses on trajectory tracking control for robot manipulators. While much research has been done on this issue, many other aspects of this field have not been fully addressed. Here, we present a new solution using feedforward controller to eliminate parametric uncertainties and unknown disturbances. The Takagi-Sugeno fuzzy descriptor system (TSFDS) is chosen to describe the dynamic characteristics of the robot. The combination of this fuzzy system and the robust H∞ performance makes the system almost isolated from external factors. The linear matrix inequalities based on the theory of Lyapunov stability is considered for control design. The proposed method has proven its effectiveness through simulation results.
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来源期刊
Journal of Automation, Mobile Robotics and Intelligent Systems
Journal of Automation, Mobile Robotics and Intelligent Systems Engineering-Control and Systems Engineering
CiteScore
1.10
自引率
0.00%
发文量
25
期刊介绍: Fundamentals of automation and robotics Applied automatics Mobile robots control Distributed systems Navigation Mechatronics systems in robotics Sensors and actuators Data transmission Biomechatronics Mobile computing
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