东北大学学报:自然科学版 ›› 2017, Vol. 38 ›› Issue (11): 1601-1606.DOI: 10.12068/j.issn.1005-3026.2017.11.017

• 机械工程 • 上一篇    下一篇

基于滑模补偿的六轴机械臂RBF网络自适应控制

王宏, 郑天奇   

  1. (东北大学 机械工程与自动化学院, 辽宁 沈阳110819)
  • 收稿日期:2016-06-13 修回日期:2016-06-13 出版日期:2017-11-15 发布日期:2017-11-13
  • 通讯作者: 王宏
  • 作者简介:王宏(1960-),女,辽宁沈阳人,东北大学教授,博士生导师.
  • 基金资助:
    国家自然科学基金资助项目(51505069); 辽宁省高等学校创新团队项目(LT2014006).

RBF Network Adaptive Control Based on SMC Compensation for Six-axis Manipulator

WANG Hong, ZHENG Tian-qi   

  1. School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110819, China.
  • Received:2016-06-13 Revised:2016-06-13 Online:2017-11-15 Published:2017-11-13
  • Contact: WANG Hong
  • About author:-
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摘要: 提出了一种基于滑模补偿的RBF网络自适应控制方法,并将其用于六轴机械臂上,实现了在模型不确定情况下高精度的位置跟踪以及快速的逼近速度.为了更好地保证其在摩擦力、外部干扰误差和参数变化等因素影响下的稳定性,采用滑模控制作为辅助控制,对系统进行鲁棒补偿,并且用模糊控制对切换增益进行时变以更好地补偿不确定项.所设计的自适应律权值不断进行在线调整,并应用Lyapunov定理验证了其稳定性.通过仿真结果和与其他文献方法进行的比较证明了所给出方法收敛速度更快、鲁棒性更强.同时也证明了在实际工程中,实际建模参数与理想值相差很大.

关键词: RBF网络, 滑模控制, 模糊控制, Lyapunov稳定, 六轴机械臂

Abstract: A RBF neural network adaptive control based on sliding mode control compensation is proposed, and applied to the six-axis robot manipulator, to achieve high-precision position tracking and rapid approaching speed in the case of model uncertainty. Sliding mode control is adopted as auxiliary for system robust compensation and fuzzy control is used for real-time switching gain changing to make the uncertainties better, in order to keep the system′s stability toward the influence of friction, external interference errors and parameter changes. Adaptive laws weights were adjusted constantly online, and Lyapunov theorem was used to prove the stability. The simulation result indicated that a faster convergence rate and stronger robustness can be acquired with the proposed control algorithm, comparing with other research. It also shows that in reality, significant difference exists between the modeling parameters and the actual values.

Key words: RBF network, SMC, fuzzy control, Lyapunov stability, six-axis manipulator

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