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基于LuGre摩擦模型的机械臂模糊神经网络控制

DOI: 10.13195/j.kzyjc.2013.0510, PP. 1097-1102

Keywords: 机械臂,LuGre,摩擦,模糊神经网络,自适应控制

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Abstract:

针对未知摩擦非线性会使机械臂控制精度难以提高的缺陷,建立基于动态LuGre摩擦的机械臂模型.在系统参数未知和机械臂负载变化的情况下,设计一种自适应模糊神经网络控制器,采用基函数中心和宽度均自适应变化的模糊神经网络补偿器,实现对系统中包括LuGre摩擦在内的非线性环节的逼近,并利用滑模控制项减小逼近误差.通过Lyapunov方法证明了闭环系统的稳定性,并通过仿真结果验证了所提出控制方法的有效性.

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