受限柔性机器人基于遗传算法的自适应模糊控制
Genetic Algorithm Based Adaptive Fuzzy Control for Constrained Flexible-Link Manipulators
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摘要: 研究一类平面双连杆受限柔性机器人的混合位置/力控制问题,提出一种自适应 模糊逻辑控制方案,利用遗传学习算法对控制器中的参数进行学习和修正,达到提高系统控 制精度、改善系统鲁棒性的目的.计算机仿真结果表明这种控制器设计方案具有很好的特性.Abstract: In this paper, the hydrid position and force control problem is discussed for a class of planar two-link constrained flexible manipulators. A GA-based adaptive fuzzy control scheme is presented to control the tip position and the contact force, and a digital genetic algorithm is used to update the parameters of the controller so as to enhance the control precision and improve the robustness of the system. Computer simulation results demonstrate that the controller design method presented here has very good performance.
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