Research On Robotic Adaptive Fuzzy Control Method

With the development of science and technology,the development of manipulator technology has become the hottest subject of industrial control,and gradually spreads into other areas.The core of Manipulator system was control system,and the robot manipulator intelligent control research has been attended by most of scholar.At present,the most urgent problem is how can you make manipulator service human with higher speed and higher accuracy,instead of people's complicated,severe environment,monotonous and repetitive long hours work.With the improvement of living standard,people put forward higher request on the precision of manipulator trajectory tracking,not only can realize point-to-point tracking,general linear tracking and curve tracking,but can realize high-precision tracking of any specified path.However,manipulator system itself is a highly nonlinear and strong coupling complex system with multiple inputs and outputs,all of these make it difficult to get the accurate mathematical model of the manipulator system,combined with the changes of loads,external factors such as random disturbance and uncertain factors of model itself,which greatly increased the difficulty of the manipulator trajectory tracking control.So this paper studies on the problem of manipulator trajectory tracking control,the purpose is realize high-precision trajectory tracking through designed appropriate controller,and make the manipulator completed user specified work through the expected path of user set.The main research points are as follows:1.Firstly,the manipulator kinematics theory knowledge was expounded,the kinematics equation was established through the rigid body posture was descripted,it's coordinate was transformed.And based on the Lagrange mechanics knowledge,the dynamics equation of manipulator was introduced.Finally,the S function was used to program the dynamics model of the manipulator,in order to the sequence simulation experiment was well prepared.2.Secondly,the theory of fuzzy system was expounded,and the conventional fuzzy controller was designed for the two joints manipulator system,then the simulation experiment was used to analyzed the control effect,and verified the proposed fuzzy controller has the advantages of good robustness and independence to accurate mathematical model of the object by multi-group simulation results,but has the problem of low control precision.After analyzed and compared the control effect of the conventional fuzzy controller for the manipulator trajectory tracking,by added functional modules,two new adaptive fuzzy control robust tracking algorithm are presented,in order to improve the trajectory tracking precision of manipulator,an adaptive fuzzy control scheme has fuzzy system error approximation characteristics was designed for a system of uncertain multi-input and multi-output.When the manipulator was influenced by external large disturbance or other uncertainty factors,the control effect of the traditional fuzzy control scheme was poorer,aiming at the low control precision of the conventional fuzzy controller,an adaptive fuzzy compensation robust control scheme was presented,and improved the control precision.This chapter,all parameter's adaptive laws of the control algorithm were designed based on Lyapunov stability algorithm.Finally,the effectiveness of the two algorithms for the trajectory tracking control of robot manipulators is demonstrated by the simulation results on a two-link robot manipulator,and the effectiveness of the control algorithm was verified.