考慮關(guān)節(jié)角加速度約束的移動(dòng)機(jī)器人模糊控制方法研究

摘" 要： 在移動(dòng)機(jī)器人的控制過(guò)程中，關(guān)節(jié)角加速度是一個(gè)重要的物理參數(shù)，其可以確保機(jī)器人在執(zhí)行各種任務(wù)時(shí)始終保持在安全、合理的范圍內(nèi)，從而避免機(jī)器人因運(yùn)動(dòng)過(guò)快或不穩(wěn)定而出現(xiàn)損壞或執(zhí)行任務(wù)失敗的情況。基于此，提出一種考慮關(guān)節(jié)角加速度約束的移動(dòng)機(jī)器人模糊控制方法。依據(jù)移動(dòng)機(jī)器人運(yùn)動(dòng)學(xué)方程計(jì)算移動(dòng)機(jī)器人關(guān)節(jié)角加速度，同時(shí)以關(guān)節(jié)角加速度計(jì)算結(jié)果和期望關(guān)節(jié)角加速度之間的誤差為約束，結(jié)合模糊算法設(shè)計(jì)模糊自適應(yīng)增益調(diào)整的模糊控制器，結(jié)合自適應(yīng)控制律實(shí)現(xiàn)移動(dòng)機(jī)器人模糊控制。實(shí)驗(yàn)結(jié)果證明，所提方法可精準(zhǔn)計(jì)算移動(dòng)機(jī)器人關(guān)節(jié)角加速度，并確保移動(dòng)機(jī)器人運(yùn)行軌跡能精準(zhǔn)跟蹤目標(biāo)運(yùn)行軌跡，令運(yùn)行速度快速穩(wěn)定至設(shè)定值附近，控制效果較好。

關(guān)鍵詞： 移動(dòng)機(jī)器人； 關(guān)節(jié)角加速度； 模糊控制； 運(yùn)動(dòng)軌跡； 自適應(yīng)控制律； 模糊增益調(diào)整

中圖分類號(hào)： TN876?34； TP242.6" " " " " " " " "文獻(xiàn)標(biāo)識(shí)碼： A" " " " " " " " " " " 文章編號(hào)： 1004?373X（2025）08?0145?04

Method of mobile robot fuzzy control considering joint angular acceleration constraint

SHANG Wei1， MENG Xiangxiang2， ZHANG Daode2

（1. Aerospace Academy， Beijing Institute of Technology， Beijing 100086， China;

2. School of Mechanical Engineering， Hubei University of Technology， Wuhan 430070， China）

Abstract： In the control process of the mobile robot， the joint angular acceleration is an important physical parameter， which can ensure that the robot is always kept in a safe and reasonable range when performing various tasks， so as to avoid the damage or task failure caused by the rapid or unstable movement of the robot. On this basis， a method of mobile robot fuzzy control considering the joint angular acceleration constraint is proposed. The joint angular acceleration of the mobile robot is calculated according to the kinematic equation of the mobile robot. The error between the calculation result of the joint angular acceleration and the expected joint angular acceleration is constrained， and the fuzzy controller with fuzzy adaptive gain adjustment is designed by means of the fuzzy algorithm. The fuzzy control of the mobile robot is realized by means of the adaptive control law. The experimental results show that this method can accurately calculate the joint angular acceleration of the mobile robot， ensure that the trajectory of the mobile robot can accurately track the trajectory of the target， and make the running speed quickly stabilize to the set value， with good control effect.

Keywords： mobile robot; joint angle acceleration; fuzzy control; motion trajectory; adaptive control law; fuzzy gain adjustment

0" 引" 言

移動(dòng)機(jī)器人作為智能自動(dòng)化技術(shù)的重要載體，已經(jīng)在眾多領(lǐng)域展現(xiàn)出強(qiáng)大的應(yīng)用潛力和價(jià)值[1]。在復(fù)雜多變的工作環(huán)境中，如何實(shí)現(xiàn)對(duì)移動(dòng)機(jī)器人的精準(zhǔn)、高效和穩(wěn)定的控制，一直是研究者們關(guān)注的焦點(diǎn)[2?3]。文獻(xiàn)[4]結(jié)合了微分跟蹤器的快速響應(yīng)與平穩(wěn)過(guò)渡特性，以及移動(dòng)機(jī)器人的運(yùn)動(dòng)學(xué)特性，能高效控制機(jī)器人運(yùn)動(dòng)軌跡。在實(shí)際應(yīng)用中，該方法可以有效減少微分噪聲，避免復(fù)雜的數(shù)學(xué)模型引入，并便于實(shí)施。……