Control Strategy for Flexible Manipulator Based on Feedforward Compensation and Fuzzy-Sliding Mode Control

摘要

Considering external disturbance,friction,parameters variation,modeling errors and other issues in flexible joint robot control system,the external disturbance is divided into deterministic part and uncertainty part,and the friction into linear part and nonlinear part,then a new structure robust controller based on the combination of feedforward compensation and fuzzy sliding mode control is proposed.The controller consists of two parts,the part associated with the robot structure itself,deterministic disturbance and the linear part of the friction can be eliminate effectively by computed torque and feedforward compensation.And the fuzzy-sliding mode control of the proposed controller can compensate the external uncertainty disturbance,nonlinear part of friction,parameters variation,modeling error and so on.The experiment results on the platform of HIT four degrees of freedom flexible manipulator show the good position tracking performance and strong anti-interference ability.