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提出一种基于模糊聚类和滑动模控制的模糊过模型控制方法，并将其应用于动力学 方程未知的机械手轨迹控制．首先，采用Ｃ均值聚类算法构造两关节机械手的高木－关野 （Ｔ－Ｓ）模糊模型，并由此构造模糊系统的逆模型．然后，在提出的模糊逆模型控制结构中， 离散时间滑动模控制和时延控制（ＴＤＣ）用于补偿模糊建模误差和外扰动，保证系统的全局 稳定性并改进其动态和稳态性能．系统的稳定性和轨迹误差的收敛性可以通过稳定性定理来 证明．最后，以两关节机械手的轨迹跟随控制为例，揭示了该设计方法的控制性能．
A fuzzy over model control method based on fuzzy clustering and sliding mode control is proposed and applied to manipulator trajectory control with unknown dynamics equations. Firstly, the T-S fuzzy model of two joint manipulators is constructed by C-means clustering algorithm, and the inverse model of the fuzzy system is constructed. Then, in the proposed fuzzy inverse model control structure, discrete-time sliding mode control and delay control (TDC) are used to compensate for the fuzzy modeling errors and external disturbances, ensuring the global stability of the system and improving its dynamic and steady-state performance. The stability of the system and the convergence of trajectory errors can be proved by the stability theorem. Finally, taking the trajectory following control of two-joint manipulator as an example, the control performance of this design method is revealed.