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液壓外骨骼機(jī)器人非線性模糊滑??刂品椒?/div>
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國(guó)家自然科學(xué)基金創(chuàng)新研究群體科學(xué)基金項(xiàng)目(51521064)和浙江省自然科學(xué)基金項(xiàng)目(LY13E050001)


Nonlinear Fuzzy SMC Algorithm for Hydraulic-driven Exoskeleton Robot System
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    摘要:

    針對(duì)液壓外骨骼機(jī)器人系統(tǒng)建模困難的問(wèn)題,,提出一種利用自適應(yīng)模糊逼近方法來(lái)實(shí)現(xiàn)對(duì)滑模等效控制的逼近,,不需要對(duì)機(jī)器人的未知參數(shù)進(jìn)行預(yù)先估計(jì),同時(shí)設(shè)計(jì)可調(diào)參數(shù)的自適應(yīng)調(diào)節(jié)律,,增強(qiáng)系統(tǒng)的魯棒性,,引入一種類(lèi)勢(shì)能函數(shù)設(shè)計(jì)具有非線性積分項(xiàng)的滑模面,當(dāng)誤差較大時(shí),積分效應(yīng)適當(dāng)減弱,,防止產(chǎn)生較大的超調(diào)量,;當(dāng)誤差較小時(shí),積分效應(yīng)適當(dāng)增強(qiáng),,減小穩(wěn)態(tài)誤差,。利用李雅普諾夫方法論證了該閉環(huán)控制系統(tǒng)的穩(wěn)定性,并使用模糊切換方法來(lái)消除滑??刂贫墩?。最后,對(duì)液壓助力外骨骼機(jī)器人系統(tǒng)進(jìn)行軌跡跟蹤及外干擾實(shí)驗(yàn),,結(jié)果驗(yàn)證了該方法的有效性,,控制輸出能快速平穩(wěn)地跟隨參考位置信號(hào),且具有一定抗干擾能力,。

    Abstract:

    In case of the difficulty in modeling for exoskeleton robot, an adaptive fuzzy logic control was presented to directly approximate the equivalent control without estimating the unknown parameters in advance. And an adaptive law in controller was designed to adjust its parameters according to parameter changes of the control system. In order to decrease the steady-state error and prevent from the integrator windup, a new nonlinear saturation function derived from quasi-natural potential function was designed to improve the performance of traditional integral sliding mode control. When the error beyond a boundary layer, the integral action was restricted by adjusting factor to avoid the large overshoot and long adjustment time. When the error was small, the integral action was completed so as to reduce the steady-state error and improve the robustness. The stability of the proposed controller was proved by using Lyapunov method. Furthermore, the chattering of sliding mode control was alleviated by simplifying the fuzzy control instead of switching function without deteriorating the system reliability and robustness. Finally, without acknowledging the model parameters of hydraulic-driven exoskeleton robot system, experiments were implemented to demonstrate the robustness and effectiveness of the method. And the results showed that the control output can follow the reference position signal quickly and smoothly with anti-interference ability.

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陳慶誠(chéng),朱世強(qiáng),蔣瑜,劉松國(guó).液壓外骨骼機(jī)器人非線性模糊滑??刂品椒╗J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2017,48(4):355-361. CHEN Qingcheng, ZHU Shiqiang, JIANG Yu, LIU Songguo. Nonlinear Fuzzy SMC Algorithm for Hydraulic-driven Exoskeleton Robot System[J]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(4):355-361.

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  • 收稿日期:2016-07-25
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  • 在線發(fā)布日期: 2017-04-10
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