机器人是一种不确定性、非线性系统,为了实现不确定机器人系统的精确控制,基于Backstepping的自适应模糊控制算法,对直驱电机双关节机械臂进行了研究.首先,针对直驱技术双关节机械臂的数学模型,并结合Backstepping算法,对该系统进行相关数学理论分析;其次,详细介绍了Backstepping自适应模糊控制器的设计过程,并通过Lyapunov函数证明所设计控制系统闭环有界,且稳定可靠;最后,以Matlab软件组建该控制算法仿真平台,通过试验结果与单一自适应模糊控制算法比较分析表明,所设计控制器对关节1和关节2的位置跟踪响应时间大约分别为0.12 s和0.1 s,而且位置跟踪曲线更加精确.因此,该智能控制算法可以实现对不确定机器人系统位置的精确跟踪和快速响应,为解决高精度设备的轨迹跟踪问题提供了一定思路.所提出的直驱机械臂既节省资金,又具有很高的实用价值,值得推广和应用.%The robot is an uncertain and nonlinear system.In order to realize the precise control of the uncertain robot system,with the dual-joint manipulator which is composed of the direct drive motor as the object,the self-adaptive fuzzy control algorithm based on backstepping is studied.Firstly,in accordance with the mathematical model of the direct drive double-joint manipulator,and combining with the basis of backstepping algorithm,the relevant mathematical theory is analyzed.Secondly,the design process of backstepping adaptive fuzzy controller is introduced in detail,and relying on Lyapunov function,to prove that the designed control system is closed-loop bounded and stable and reliable.Finally,the simulation platform is established by Matlab software.The comparison between the experimental results and the single adaptive fuzzy control algorithm shows that the designed controller has about 0.12 s and 0.1 s respectively for the positional tracking response for joint 1 and joint 2,and the position tracking curve is more accurate.Therefore,this intelligent control algorithm can implement accurate tracking and fast response to the position of the uncertain robot system,and it provides a certain idea for solving the tracking of high precision equipment,and the proposed direct drive manipulator both saves money and provides high practical value,which is worth to be promoted and applied.
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