| 双拇指手的模糊滑动模态控制 |
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| 引用本文： | 郭敬,赵宏才,刘胜杰.双拇指手的模糊滑动模态控制[J].辽宁科技学院学报,2011,13(4):20-22. |
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| 作者姓名： | 郭敬 赵宏才 刘胜杰 |
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| 作者单位： | 青岛理工大学自动化工程学院,山东青岛,266033;青岛理工大学自动化工程学院,山东青岛,266033;青岛理工大学自动化工程学院,山东青岛,266033 |
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| 摘 要： | 为了实现双拇指手位置的精确控制,将模糊控制和滑动模态控制相结合,建立手指关节的状态方程,通过模糊控制规则确定滑动模态控制量,减小了滑模控制器的颤抖。仿真结果表明模糊滑动模态控制不仅可以抑制抖动而且具有良好的性能。
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| 关 键 词： | 双拇指手 模糊滑动模态控制 抑制抖动 |
The Fuzzy Sliding Modelled Control for a Duel-thumb Hand |
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| GUO Jing;ZHAO Hong-cai;LIU Sheng-jie.The Fuzzy Sliding Modelled Control for a Duel-thumb Hand[J].Journal of Liaoning Institute of Science and Technology,2011,13(4):20-22. |
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| Authors: | GUO Jing;ZHAO Hong-cai;LIU Sheng-jie |
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| Institution: | GUO Jing;ZHAO Hong-cai;LIU Sheng-jie(School of Autonation Engineering,Qindao University of Science and Engineering,Qingdao,Shandong,266520,China) |
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| Abstract: | In order to realize the accurately controlled position of a dual-thumb hand,we combine the fuzzy control with sliding modelled control to establish a state equation of finger joint.Then,we determine the amount of sliding modelled control based on the fuzzy control rules,to achieve the reduced chattering.As a result,the fuzzy sliding modelled control can get not only the fine performance,but also suppress jitter. |
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| Keywords: | Dual-thumb hand Fuzzy sliding modelled control Alleviation chattering |
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