一类弹性机械臂的模糊控制

李大芃, 诸静, 田彦涛. 一类弹性机械臂的模糊控制[J]. 机器人, 2000, 22(1): 55-59.

引用本文:

李大芃, 诸静, 田彦涛. 一类弹性机械臂的模糊控制[J]. 机器人, 2000, 22(1): 55-59.

LI Da-peng, ZHU Jing, TIAN Yan-tao. FUZZY CONTROL OF CERTAIN FLEXIBLE ARM[J]. ROBOT, 2000, 22(1): 55-59.

Citation:

LI Da-peng, ZHU Jing, TIAN Yan-tao. FUZZY CONTROL OF CERTAIN FLEXIBLE ARM[J]. ROBOT, 2000, 22(1): 55-59.

FUZZY CONTROL OF CERTAIN FLEXIBLE ARM

摘要: 本文以双连杆弹性机械臂为对象，对其动力学特性进行了分析并提出了一种具有自适应性能的模糊控制方案．仿真表明，它具有较高的跟踪精度和较强的实时性、鲁棒性．

Abstract: This paper presents a kind of adaptive fuzzy control scheme based on two-link flexible arm .The simulation results show that the proposed control scheme has very high tracking precision,real time performance and robustness.

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