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Robot self-adaption fuzzy control method and system

An adaptive fuzzy, robotic system technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., to achieve the effect of improving trajectory tracking performance

Active Publication Date: 2019-11-26
GUANGDONG UNIV OF TECH
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Problems solved by technology

[0008] Based on this, the present invention aims to propose a robot adaptive fuzzy control method and system, improve the traditional fuzzy logic system, and introduce the approximation error as a time-varying function into the robot control system; introduce an auxiliary system in the controller design, compensate The adverse effects of the unknown input dead zone are used to solve the technical problem that the time-varying approach error has not been dealt with in the prior art, and the auxiliary system is used to compensate the input dead zone to achieve the purpose of improving the trajectory tracking performance of the robot

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[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0048] see figure 1 , the present embodiment provides an adaptive fuzzy control method for a robot, including expressing the approximation error as a time-varying function and introducing a compensation auxiliary system into an input dead zone.

[0049] Suppose the unknown continuous disturbance of the robot system is a time-varying function f( ),

[0050] Approximating f( ) with fuzzy logic systems FLSs of the form

[0051] F(X)=θ T δ(X q ),

[0052] Amo...

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Abstract

The invention discloses a robot self-adaption fuzzy control method and system. An approximate error is in a time variant mode, the time-variant approximate error is introduced into an improved fuzzy logic system, compensation of the time-variant error is achieved, and the system online calculation amount is decreased; in addition, an auxiliary system is added and used for compensating an unknown input dead zone of a robot system, the input dead zone serves as an unknown model instead of a specific model, the auxiliary system can process different dead zone situations in a self adaptive mode, and the trajectory tracking performance of the robot system is advantageously improved.

Description

technical field [0001] The invention belongs to the field of robot control, and in particular relates to a robot adaptive fuzzy control method and system. Background technique [0002] With the continuous deepening of the transformation and upgrading of the manufacturing industry, the application fields of robots are constantly expanding, and the demand for its precision is constantly rising. Therefore, the control of robots has become a hot research field, and many control algorithms have been proposed accordingly, such as PID control, automatic Adaptive control, fuzzy control, etc. However, in terms of actual control effects, it is increasingly difficult for a single control algorithm to meet the ever-increasing precision and stability requirements of robots, so methods that integrate multiple control algorithms are emerging. [0003] The actual working environment of the robot is often harsh and there are many external disturbances, which will inevitably lead to uncertai...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 陈子聪王钦若刘建圻张慧邓静宋永胜
Owner GUANGDONG UNIV OF TECH
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