英文标题
Trajectory Tracking Control of 3R Underactuated Robot Based on Fuzzy Control
英文摘要
To improve the control effect of the trajectory tracking of a 3R horizontal underactuated manipula-tor, a kind of Fuzzy-PID compound controller is designed, which realizes the control by using the dynamic coupling between the actuated and the underactuated joints. It is a dual-mode system. If the error is higher than the valve values, the fuzzy controller works in order to obtain a good transient performance. If the error is lower than the valve values, the PID controller works in order to obtain a good steady state performance. The virtual prototype system of the 3R horizontal underactuated manipulator was created in ADAMS, and the control system is designed in MATLAB. The co-simulation based on MATLAB and ADAMS for the ro-bot was realized by the interface module between them. The results of the co-simulation show that the Fuzz-y-PID compound controller can effectively reduce the control error and improve dynamic property of the sys-tem.
翻译关键词
Fuzzy-PID control
trajectory tracking
underactuated robot
dynamic coupling
获取号
WF:perioarticalzhjc201505025
