摘要
提出一种用于双臂柔性机械手系统的终端滑模控制方法,以解决其非最小相位控制问题.重新定义了柔性机械手系统的输出,通过输入输出线性化,将系统分解为输入输出子系统和内部子系统.设计逆动态终端滑模控制策略,使输入输出子系统在有限时间内收敛到零;选择适当的控制器参数,使零动态子系统在平衡点附近渐近稳定,从而保证整个系统的渐近稳定.仿真结果证明了该设计方法的有效性.
A terminal sliding mode control strategy is proposed for a two-link flexible manipulator to address its nonminimum phase characteristics. The outputs of the manipulator system are redefined. The system is decomposed into two parts by input-output linearization, namely an input-output subsystem and the zero dynamics respectively. A terminal sliding mode control strategy is designed to make the input-output subsystem converge to zeros in finite time. Moreover, the zero dynamics can be asymptotical stable at equilibrium point by choosing proper controller parameters. Thus, the whole original two-link flexible manipulator control system is guaranteed to be asymptotically stable. Simulation results are presented to validate the design.
出处
《控制与决策》
EI
CSCD
北大核心
2004年第10期1142-1146,共5页
Control and Decision
关键词
柔性机械手
有限时间控制
终端滑模控制
Asymptotic stability
Computer simulation
Nonlinear control systems
Phase control
Sliding mode control
