Decentralized Adaptive Fuzzy Tracking Control for Robot Finger Dynamics
Decentralized Adaptive Fuzzy Tracking Control for Robot Finger Dynamics
复制标题
机器人手指动力学的分散式自适应模糊跟踪控制
DOI：
10.1109/tfuzz.2014.2315661
复制
发表时间：
2015-06-01
影响因子：
11.9
通讯作者：
Shi, Peng
中科院分区：
文献类型：
--
作者：
Zhou, Qi;Li, Hongyi;Shi, Peng
针对机器人手指动力学问题，提出了一种新的自适应跟踪控制设计方法。首先，动力学描述考虑机器人手指作为一个大规模的系统，因为它有许多关节和多自由度（DOFs）。其次，采用直接自适应模糊逼近方法代替未知非线性函数逼近未知和期望的控制输入信号，大大减少了控制设计过程中获得的自适应设计参数的数量。此外，它表明，所设计的控制器可以保证所有的闭环系统中的信号是半全局一致最终有界的。最后，对Puma 560机器人进行了仿真，结果表明了所提出的控制设计方法的有效性。
In this paper, a novel design method for adaptive tracking control is proposed for robot finger dynamics. First, the dynamics are described by considering the robot finger as a large-scale system since it has many joints and multi-degrees of freedoms (DOFs). Second, by employing the direct adaptive fuzzy approximation method to approximate the unknown and desired control input signals instead of the unknown nonlinear functions, the number of adaptive design parameters obtained in the control design process is greatly reduced. Moreover, it is shown that the designed controller can guarantee all the signals in the closed-loop system to be semiglobally uniformly ultimately bounded. Finally, simulations are conducted on the Puma 560 robot manipulator, and the results show the effectiveness of the developed control design approach.