A Novel Robust Constraint Force Servo Control for Under-actuated Manipulator Systems: Fuzzy and Optimal
A Novel Robust Constraint Force Servo Control for Under-actuated Manipulator Systems: Fuzzy and Optimal
复制标题
欠驱动机械臂系统的新型鲁棒约束力伺服控制：模糊和最优
DOI：
10.1002/asjc.1677
复制
发表时间：
2018-09-01
影响因子：
2.4
通讯作者：
Xia，Lian
中科院分区：
文献类型：
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作者：
Dong，Fangfang;Han，Jiang;Xia，Lian
我们考虑欠驱动机械臂系统的控制设计。任务是驱动系统接近规定的约束。系统包含不确定性。它是有界的，其中边界信息由模糊集规定（例如，边界接近1）。初始条件也规定了一个模糊集。提出了一类鲁棒控制器，它保证了确定性的性能。最重要的是，控制设计参数的选择被转换为模糊理论设置。提出了一种性能指标，包括累积的模糊系统性能和控制成本。使性能指标最小化的最优控制设计参数可以通过求解两个代数四次（四阶）方程获得。其结果是，控制设计问题，解决模糊和最优特性，是完全解决。
We consider the control design for under‐actuated manipulator systems. The task is to drive the system to be close to a prescribed constraint. The system contains uncertainty. It is bounded where the bounding information is prescribed by a fuzzy set (e.g., the bound is close to 1). The initial condition is also prescribed by a fuzzy set. A class of robust control is proposed, which guarantees a deterministic performance. On top of that, the choice of a control design parameter is cast into a fuzzy‐theoretic setting. A performance index, consisting of accumulated fuzzy‐based system performance and control cost, is proposed. The optimal control design parameters, which minimize the performance index, can be obtained by solving two algebraic quartic (fourth‐order) equations. As a result, the control design problem, which addresses both fuzzy and optimal characteristics, is completely solved.