Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/91283
標題: Adaptive Sliding Fuzzy Control of Robot Manipulator with Flexible Joints
撓性關節機械臂之適應順滑模糊控制
作者: 楊惠雯
Hui-Wen Yang
關鍵字: Manipulator
sliding control
fuzzy control
機械臂
順滑控制
模糊控制
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摘要: This thesis presents an adaptive sliding fuzzy control scheme is used to arms robot with flexible joints. Design the sliding surface for position control. To overcome the problem of uncertain parameters and chattering is caused by sliding control, design the controller which combine sliding control and adaptive fuzzy control, and then the adaptive controller is proposed. Asymptotic stability of the system is ensured via Lyapunov-like lemma. From the computer simulation results, simulation results show that the position of the arm system can be controlled effectively by the proposed control method.
本文將設計適應順滑模糊控制,應用於撓性關節機械臂系統上。設計順滑面做位置控制,為了解決系統參數不確定性問題及順滑控制造成的抖動現象,引入適應模糊控制法,並推導適當的適應更新律,設計適應順滑模糊控制器,在機械臂具有參數誤差的情況下,使用Lyapunov引理證明系統漸進穩定。最後由電腦數值模擬之結果得知,本文所設計之控制法在具有參數誤差情況下,仍可得到良好位置追蹤。
URI: http://hdl.handle.net/11455/91283
文章公開時間: 2016-07-31
Appears in Collections:機械工程學系所

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