機械手臂運動控制之滑動模式自組織模糊控制器

Sliding Mode Self-Organizing Fuzzy Controller for Robotic Motion Control

廖慶豐(Ching-Feng Liao)

指導教授 ： 林震

國立臺北科技大學/機電學院/製造科技研究所/碩士(2008年)

摘要

因為機械手臂為一個複雜且非線性的系統，其數學模式難以被建立或估測出來。因此，很難設計出以模式為基礎的控制器，以控制此系統並且評估其控制性能。本研究發展出二種智慧型控制策略：(1) 自組織模糊控制器，(2) 滑動模式自組織模糊控制器。應用於控制機械手臂系統，以評估其控制性能。在本研究中，首先以數值模擬的方式，
以所提出的控制器評估二軸機械手臂的控制性能，接著，為了評估所提出的控制器於實際應用的可行性，此控制器被應用於控制六軸機械手臂。經由模擬與實驗結果證實，在軌跡追蹤與定位控制方面，滑動模式自組織模糊控制器的控制性能確實比單獨使用自組織模糊控制器有較佳的控制性能。

關鍵字

機械手臂系統 ； 自組織模糊控制器 ； 滑動模式控制

並列摘要

Since the robotic manipulator is a complicated and nonlinear system, its mathematical model is difficult to establish or estimate. Therefore, it is difficult to design a model-based controller for controlling this system to evaluate the system performance. This work has developed two intelligent control strategies: (1) self-organizing fuzzy controller, and (2) slidingmode self-organizing fuzzy controller, to control the robotic system for evaluating the control performance of the system. This study first evaluated the performance of the proposed controllers by simulating tests based on a 2-degree-of-freedom (DOF) robotic model. Next, in order to evaluate the feasibility of the proposed controllers in experimental implementations, these controllers were applied in controlling a 6-DOF robotic system. The sliding mode self-organizing fuzzy controller used for robot motion
control gave better control performance in trajectory tracking and position control than the self-organizing fuzzy controller, as shown in both simulation and experimental results.

並列關鍵字

Robotic manipulator system ； Self-organizing fuzzy controller ； Sliding mode control

參考文獻

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