| Summary: | 碩士 === 國立臺灣師範大學 === 機電科技研究所 === 99 === A scheme of adaptive fuzzy sliding-mode control is proposed in this paper to deal with highly nonlinear dynamics of robotic manipulators for trajectory tracking. By using a simplified model, a nominal controller is obtained by pole placement design to specify ideal closed-loop dynamics. Then, an adaptive fuzzy compensator augmented with a sliding-mode disturbance observer (SDOB) compensates for system uncertainties and external disturbances.
The SDOB ensures well transient performance and compensates well for unknown perturbation. In addition, the adaptive fuzzy compensator is used to model an unknown disturbance according to the proposed adaptive law. When the perturbation has been well modeled, the control system can efficiently compensate for the disturbance, avoiding the phase-lag problem associated with the SDOB.
The experimental system for studies on a two-link robotic manipulator tracking a circular trajectory contains a DSP/FPGA system, which is the control kernel. We use C language and very-high-speed hardware description language (VHDL) as tools for developing a servo control system. The experimental results show that the proposed scheme improves the tracking performance and decreases the tracking error.
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