基于模糊基函数网络的机械臂免模型输出反馈PD控制.PDFVIP

32 6 JOURNAL OF NATIONAL UNIVERSITY OF DEFENSE TECHNOLOGY Vol.32 No.6 2010 :1001- 2486(2010) 06- 0163- 08 X PD 张文辉, 齐乃明, 李运迁 ( , 150001) : , PD , , , () , PD Lyapunov : ; ; ; ; ; :TP242 :A Output Feedback PD Control of Robot Manipulators Dispense with Model Base on Fuzzy-basis-function-network ZHANG Wen-hui,QI Na-i ming,LI Yun-qian ( Collegeof Aerospace, Harbin Institut eof Technology, Harbin 150001, China) Abstract: Aimed at trajectory tracking of robot manipulators without velocity information, th ecurrent study proposed an output f dback PD control without measuring joint velocities dispens ewith model. Th edeveloped controller and observer wer ebased on a Fuzzy-Basis-Function-Network, which wer mployed to approximat enonlinear functions in th edynamics of controller and estimat velocity of joints. All parameters of th efuzz-basis-functions and weights could b etuned onlin eby commix arithmetic, and no offlin learning phas ewas n ded. Th eobserver and controller requir eno modelknowledg eof robot manipulators, including inertiamatrix. This control schem eis easy to b eused in project by introducing PD controller. According to th estandard Lyapunov theorem extension, all signals in th eclosed-loop ar euniformly ultimately bounded(UUB) . Th esimulation of two-link robot manipulators results show that th presented method is effective. Key words: robotic manipulators; observer; output f dback control; fuzzy-basis-function; adaptiv econtrol;lyapunov theory , [ 1- 3] , ,