基于输入模糊化的农用履带机器人自适应滑模控制

针对农用履带机器人控制系统易受到参数慑动和外部扰动影响的特点,将模糊理论与滑模控制结合起来,提出了基于模糊逻辑的自适应滑模控制,以提高控制精度与稳定性。首先,推演了履带机器人运动学模型,分析了模型的特点。其次,设计了一种含有积分项的滑模面,构建了基于等效控制和切换控制的模糊滑模自适应控制,既保留了滑模控制的快速性和鲁棒性,又很好地抑制了抖振。仿真与实验结果表明,与常规的滑模控制方法相比,该控制不仅对外部扰动及参数摄动具有较强的自适应性和鲁棒性,而且具有动态响应快、跟踪性能好的特点,适用于履带机器人控制系统。

Self-adaptive Sliding Mode Control Based on Input Fuzzy for Agricultural Tracked Robot

Aiming at the characteristics of parameter perturbations and the effect of disturbance outside in agricultural tracked robot control system, a self-adaptive fuzzy sliding mode control was proposed based on fuzzy logic theory to improve the control precision and stability, which combined sliding mode control with fuzzy theory. Firstly, the motion equation of agricultural tracked robot was derived and analyzed. Secondly, an integral sliding mode surface was proposed, and an adaptive fuzzy sliding mode control was designed based on equivalent efficiency control and switching control, which held the celerity and robustness of sliding mode control and also weakened the buffeting very well. The simulation and test results showed that compared with conventional sliding mode control method, the proposed control possessed the advantages of good adaptability and robustness to outside disturbances and parameter uncertainty, and also had fast dynamic response and well tracking performance, which was feasible for agricultural tracked robot controlling system.