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主要对二自由度平面欠驱动机器人的操作空间控制问题进行了研究,提出了一种适用于此类欠驱动机器人的模糊控制新方法。将欠驱动机器人末段位置控制问题进行分解,设计了一种新型的分层模糊控制器,模糊规则简单容易制定,并且大大减少了模糊规则数目。在控制规则制定方面引入遗传算法进行全局优化,根据定义的适应度函数从系统模型中自动生成全局最优的控制规则。最后进行了数值仿真,验证了方法的有效性。
This paper mainly studies the control of two-DOF planar under-actuated space and proposes a new fuzzy control method suitable for such under-driven robots. The problem of position control of underactuated robot is decomposed and a new type of hierarchical fuzzy controller is designed. The fuzzy rules are easy to formulate and the number of fuzzy rules is greatly reduced. In the aspect of control rules, genetic algorithm is introduced for global optimization, and the global optimal control rules are automatically generated from the system model according to the defined fitness function. Finally, numerical simulation is carried out to verify the effectiveness of the method.