分数阶模糊自抗扰的机器人手臂跟踪控制
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摘要
为了解决传统控制方法在处理机器人手臂多关节运动轨迹控制问题时的精度低、稳态误差大、响应速度慢等缺点,提出一种基于分数阶模糊自抗扰控制器的机器人手臂轨迹跟踪控制方法:利用跟踪微分器,实现关节速度和加速度的无传感器提取;采用分数阶PID控制器,实现本质上为分数阶系统的机器人手臂的无差控制;利用模糊控制,实现分数阶PID参数的实时优化,提高系统整体控制性能。通过仿真实验对比了所提方法与传统PID控制器的控制性能,MATLAB/SIMULINK中的仿真结果表明,提出的控制器在轨迹跟踪的响应速度和稳态误差等方面具有非常明显的优越性。
In order to deal with the low precision, big stable state error and slow response dynamic of traditional control method on robotic manipulator control, a novel control method based on fractional order-fuzzy control-adaptive disturbance rejection control(FO-FC-ADRC) is proposed to control the robotic manipulator: the tracking differentiator is used to extract the speed and acceleration of manipulator without sensors; the fractional order PID(FO-PID) is adopted to realize the zero error control of robotic manipulator system, which is essentially a fractional order system; the fuzzy is utilized to optimize the parameters of the FO-PID in real time, which can improve the performance of the proposed control. The proposed FO-FC-ADRC is compared with the conventional PID control by simulation, and the results show that the proposed control for trajectory tracking of robotic manipulator is much better than the conventional PID both in dynamic and static performance index.
In order to deal with the low precision, big stable state error and slow response dynamic of traditional control method on robotic manipulator control, a novel control method based on fractional order-fuzzy control-adaptive disturbance rejection control(FO-FC-ADRC) is proposed to control the robotic manipulator: the tracking differentiator is used to extract the speed and acceleration of manipulator without sensors; the fractional order PID(FO-PID) is adopted to realize the zero error control of robotic manipulator system, which is essentially a fractional order system; the fuzzy is utilized to optimize the parameters of the FO-PID in real time, which can improve the performance of the proposed control. The proposed FO-FC-ADRC is compared with the conventional PID control by simulation, and the results show that the proposed control for trajectory tracking of robotic manipulator is much better than the conventional PID both in dynamic and static performance index.
引文
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[18]A Kumar,V Kumar.A Novel Interval Type-2 Fractional Order Fuzzy PID Controller:Design,Performance Evaluation,and its Optimal Time Domain Tuning[J].Isa Transactions,2017,68(7):251-262.
[2]万鸾飞,戴先中,甘亚辉.双机器人协作弧焊过程的轨迹规划研究[J].控制工程,2017,24(7):1 303-1 309.Wan L F,Dai X Z,Gan Y H.Trajectory Planning of Dual Robot Collaborative Arc Welding Process[J].Control Engineering of China,2017,24(7):1 303-1 309.
[3]汤璘,汤京弋,陈超.融合RFID和脑电信号的机械臂联合控制方法[J].控制工程,2017,24(6):1 206-1 211.Tang J,Tang J Y,Chen C.Combined Control Method of RFID and EEG Signal Mechanical Arm[J].Control Engineering of China,2017,24(6):1 206-1 211.
[4]A Coronel-Escamilla,F Torres,JF Gómez-Aguilar,et al.On the Trajectory Tracking Control for an SCARA Robot Manipulator in a Fractional Model Driven by Induction Motors with PSO Tuning[J].Multibody System Dynamics,2017,40(2):1-21.
[5]M Rani,N Kumar.A Hybrid Approach for Trajectory Tracking Control of Redundant Robot Manipulators[C].International Conference on Next Generation Computing Technologies,2017:299-305.
[6]S Gorji,MJ Yazdanpanah.A Novel Robust Adaptive Trajectory Tracking in Robot Manipulators[J].Journal of Computer&Robotics,2017,10(2):1-11.
[7]MBA Jabali,MH Kazemi.Uncertain Polytopic LPV Modelling of Robot Manipulators and Trajectory Tracking[J].International Journal of Control Automation&Systems,2017,15(2):883-891.
[8]Aleksandr Andreev,Olga Peregudova.Trajectory Tracking Control for Robot Manipulators Using Only Position Measurements[J].International Journal of Control,2017,35(2):1-7.
[9]T Hsiao.Iterative Learning Control for Trajectory Tracking of Robot Manipulators[J].International Journal of Automation&Smart Technology,2017,7(3):133-139.
[10]F Bouakrif.Trajectory Tracking Control Using Velocity Observer and Disturbances Observer for Uncertain Robot Manipulators without Tachometers[J].Meccanica,2017,52(4-5):1-15.
[11]李坤全,文睿.焊接机器人焊缝模糊PID跟踪控制[J].控制工程,2017,24(2):351-354.Li K Q,Wen R.Fuzzy PID Tracking Control of Welding Robot Welding[J].Control Engineering of China,2017,24(2):351-354.
[12]O Shahnazari,A Chatraei,K Shojaei,et al.Fuzzy Gain Scheduling Saturated PID Controller:Design and Implementation on Robot Manipulator[C].Iranian Conference on Electrical Engineering,2017:597-602.
[13]PT Garran,G Garcia.Design of an Optimal Pid Controller for a Coupled Tanks System Employing ADRC[J].IEEE Latin America Transactions,2017,15(2):189-196.
[14]RM Asl,E Pourabdollah,M Salmani.Optimal Fractional Order PIDfor a Robotic Manipulator Using Colliding Bodies Design[J].Soft Computing,2017,6(5):1-13.
[15]AT Azar,J Kumar,V Kumar,et al.Control of a Two Link Planar Electrically-driven Rigid Robotic Manipulator Using Fractional Order SOFC[C].International Conference on Advanced Intelligent Systems&Informatics,2017:57-68.
[16]J Cvejn,J Tvrdík.Learning Control of a Robot Manipulator Based on a Decentralized Position-dependent PID controller[C].International Conference on Process Control,2017:100-109.
[17]A Kumar,V Kumar.Evolving an Interval Type-2 Fuzzy PIDController for the Redundant Robotic Manipulator[J].Expert Systems with Applications,2017,73(6):161-177.
[18]A Kumar,V Kumar.A Novel Interval Type-2 Fractional Order Fuzzy PID Controller:Design,Performance Evaluation,and its Optimal Time Domain Tuning[J].Isa Transactions,2017,68(7):251-262.