| 引用本文: | 杨晓钧,龙亿.计算力矩法的CMAC同步轨迹跟踪控制与仿真[J].哈尔滨工业大学学报,2013,45(7):85.DOI:10.11918/j.issn.0367-6234.2013.07.016 |
| YANG Xiaojun,LONG Yi
.Synchronous trajectory tracking control and simulation of CMAC neural network based on computed torque control[J].Journal of Harbin Institute of Technology,2013,45(7):85.DOI:10.11918/j.issn.0367-6234.2013.07.016 |
|
| 摘要: |
| 为了平面二自由度冗余驱动并联机器人更好地跟踪目标轨迹,在已有计算力矩控制的基础上加入CMAC神经网络作为补偿．CMAC结构中,轨迹跟踪误差与同步误差构造的耦合误差及其变化率组成网络的输入,经过学习后得到补偿力矩．Matlab的仿真结果表明:加入了CMAC网络补偿后,轨迹的跟踪误差与支链的同步误差都能够收敛到0,与经典的计算力矩法比较,精度有较大的提升．在计算力矩法的基础上加入CMAC网络,确实能够实现目标轨迹精确的同步跟踪． |
| 关键词: 冗余驱动 计算力矩法 CMAC神经网络 同步控制 轨迹跟踪 |
| DOI：10.11918/j.issn.0367-6234.2013.07.016 |
| 分类号: |
| 基金项目:国家自然科学基金资助项目(51105089). |
|
| Synchronous trajectory tracking control and simulation of CMAC neural network based on computed torque control |
|
YANG Xiaojun, LONG Yi
|
|
(Shenzhen Graduate School, Harbin Institute of Technology, 518055 Shenzhen, China)
|
| Abstract: |
| To track a desired trajectory better, a CMAC neural network is added to conventional computed torque control as compensator. In the CMAC network, the inputs contain cross-coupling error composed of trajectory tracking error and synchronization error and its change rate, and the output is the compensation torque. Matlab simulations show that the tracking error and synchronization error can converge to zero with CMAC network. Compared with pure computed torque control, the trajectory tracking is more accurate with the proposed control strategy. The results show that the proposed control strategy is valid to track a predefined trajectory accurately. |
| Key words: redundantly actuated computed torque control CMAC network synchronous control trajectory tracking
|
