|
|
Error Analysis of Optimizing Manipulator Trajectory Tracking Controller Based on Contraction-expansion Factor |
WANG Hong-tao,JIANG Wen-song,JIANG Qing-ze,ZHANG Qiang,DAI Ning |
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu 210016, China |
|
|
Abstract A variable universe fuzzy controller whose universe can be adjusted by contraction-expansion factor in real time is proposed to optimize the trajectory tracking effect of the manipulator. Firstly, a scale-exponential hybrid contraction-expansion factor whose functional form is related to the dynamic weight of joint-angle deviation and joint-deviation variation is designed. Secondly, the desired joint-trajectory in cartesian space is calculated by using the time-optimal path-following algorithms. Finally, the simulation of the trajectory tracking control of a three-joint manipulator is realized by using the designed variable universe fuzzy controller, and the trajectory tracking error is analyzed further. The simulation results show that the designed variable universe fuzzy controller using scale-exponential hybrid contraction-expansion factor has the advantage of better trajectory tracking control effect, faster response speed, smaller steady-state error and no overshoot.
|
Received: 30 April 2019
Published: 10 October 2020
|
|
|
|
|
[1]Neri F, Mininno E. Memetic Compact Differential Evolution for Cartesian Robot Control[J]. IEEE Computational Intelligence Magazine, 2010, 5(2): 54-65.
[2]Fallaha C J, Saad M, Kanaan H Y, et al. Sliding-Mode Robot Control With Exponential Reaching Law[J]. IEEE Transactions on Industrial Electronics, 2011, 58(2): 600-610.
[3]Canudas de Wit C, Siciliano B, Bastin G. Theory of Robot Control[M]. London: Springer, 1996.
[4]Precup R E, Hellendoorn H. A survey on industrial applications of fuzzy control[J]. Computers in Industry, 2010, 62(3): 213-226.
[5]王飞, 晁智强, 李华莹, 等. 机械臂轨迹跟踪的小波神经网络模糊滑模算法[J]. 计算机仿真, 2017, 34(11): 353-359.
Wang F, Chao Z Q, Li H Y, et al. Trajectory Tracking Control of Robot Manipulator Based on Wavelet Neural Network and Fuzzy Sliding Mode[J]. Computer Simulation, 2017, 34(11): 353-359.
[6]陆艺, 徐博文, 吴佳伟, 等. 基于模糊PID的客车防抱死制动系统硬件在环测试试验研究[J]. 计量学报, 2018, 39(2): 163-167.
Lu Y, Xu B W, Wu J W, et al. Research on Hardware-in-the-Loop Test of Bus Antilock Brake System Based on Fuzzy PID[J]. Acta Metrologica Sinica, 2018, 39(2): 163-167.
[7]Pizarro-Lerma A O, García-Hernández R, Santibáez V A. Fine-Tuning of a Fuzzy Computed-Torque Control for a 2-DOF Robot via Genetic Algorithms[J]. IFAC Papers On Line, 2018, 51(13): 326-331.
[8]陈召全, 朱明星, 章小兵, 等. 基于模糊控制的小波包多阈值语音减噪新算法[J]. 计量学报, 2019, 40(1): 134-139.
Chen Z Q, Zhu M X, Zhang X B, et al. A New Algorithm of Wavelet Packet Multi Threshold Speech Denoising Based on Fuzzy Control[J]. Acta Metrologica Sinica, 2019, 40(1): 134-139.
[9]李洪兴. 变论域自适应模糊控制器[J]. 中国科学(E 辑: 技术科学), 1999, 29(1): 32-42.
Li H X. Adaptive Fuzzy Controllers Based on Variable Universe[J]. Science in China (Series E: Technological Sciences), 1999, 29(1): 32-42.
[10]李洪兴, 苗志宏, 王加银. 非线性系统的变论域稳定自适应模糊控制[J]. 中国科学(E辑: 技术科学), 2002, 32(2): 211-223.
Li H X, Miao Z H, Wang J Y. Variable Universe Stable Adaptive Fuzzy Control of Nonlinear System[J]. Science in China (Series E: Technological Sciences), 2002, 32(2): 211-223.
[11]邵诚, 董希文, 王晓芳. 变论域模糊控制器伸缩因子的选择方法. 信息与控制, 2010, 39(5): 536-541.
Shao C, Dong X, Wang X F. Selection Method of the Contraction-expansion Factor of Variable Universe Fuzzy Controller[J]. Information and Control, 2010, 39(5): 536-541.
[12]龙祖强. 变论域模糊控制器的若干重要问题研究[D]. 长沙: 中南大学, 2011.
[13]万敏, 安铃芝. 基于MATLAB的双关节机械手控制系统仿真研究[J]. 塑性工程学报, 2017, 24(6): 136-142.
Wan L, An L Z. Control System Simulation Research for Double Joints Manipulator Based on MATLAB[J]. Journal of Plasticity Engineering, 2017, 24(6): 136-142.
[14]Pfeiffer F, Johanni R. A concept for manipulator trajectory planning[J]. IEEE Journal on Robotics and Automation, 1987, 3(2): 115-123.
[15]Carbone G, Fernando G. Motion and Operation Planning of Robotic Systems[M]. Switzerland: Springer International Publishing, 2015.
[16]Cormen T H, Leiserson C E, Rivest R L, et al. Introduction to algorithms[M]. Third Edition. Cambridge: The MIT Press, 2009. |
|
|
|