基于模糊补偿的康复机器人的自适应滑模控制研究

张晨; 梁昕; 臧琼

基于模糊补偿的康复机器人的自适应滑模控制研究

引用本文：张晨,梁昕,臧琼.基于模糊补偿的康复机器人的自适应滑模控制研究[J].计算技术与自动化,2023,(2):6-10

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作者	单位
张晨,梁昕,臧琼	（南京机电职业技术学院，江苏南京 211306）

中文摘要:针对下肢外骨骼机器人不确定模型及摩擦因素的轨迹运动控制问题，提出了一种基于模糊补偿的自适应滑模控制（FCASMC）方法。首先利用滑模控制思想设计非线性滑模面，设计滑模控制器实现系统的稳定性；接着采用模糊控制方法对其机器人中关节运动存在的未知摩擦项进行模糊补偿与逼近，减少未知摩擦项和外扰动等因素下对系统带来的稳定性影响；最后还采用了鲁棒项来消除补偿逼近误差所带来的影响，也可减少滑模方法所带来的抖振问题，从而使整个系统的稳定性进一步提高。最后，基于Lyapunov定理对所设计的控制器进行稳定性证明和仿真。仿真结果表明, 设计的控制器可以很好地对不确定摩擦项进行补偿，机器人的关节运动轨迹跟踪能实现全局跟踪，提高了在今后实际工程中的应用研究价值。

中文关键词:下肢外骨骼机器人模糊补偿自适应滑模控制摩擦项轨迹跟踪

Adaptive Sliding Mode Control for Lower Limb Exoskeleton Robot Based on Fuzzy Compensation

Abstract:An adaptive sliding mode control (FCASMC) method based on fuzzy compensation is proposed for the trajectory motion control problem of uncertain model and friction factors of lower limb exoskeleton robot. Firstly, the sliding mode control idea is used to design the nonlinear sliding mode surface, and the sliding mode controller is designed to realize the stability of the system; then the fuzzy control method is used to fuzzy compensate and approximate the unknown friction term existing in the joint motion of its robot to reduce the stability impact brought by the unknown friction term and external disturbance and other factors on the system; finally, the robust term is also used to eliminate the impact brought by the compensation approximation error, which can also be used in reducing the Finally, the robust term is also used to eliminate the impact of the compensated approximation error, which can also reduce the jitter problem brought by the sliding mode method, thus further improving the stability of the whole system. Finally, the stability of the designed controller is proved and simulated based on Lyapunov’s theorem. The simulation results show that the designed controller can compensate the uncertain friction term well, and the joint motion trajectory tracking of the robot can achieve global tracking, which improves the value of the application in future practical engineering research.

keywords:lower limb exoskeleton robot fuzzy compensation FCASMC friction term trajectory tracking

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