摘要
对多连杆柔性机械臂的轨迹跟踪控制提出了一种鲁棒控制方法。基于奇异摄动法将多连杆柔性机械臂系统分离为慢变和快变两个子系统，对两者分别采用滑模变结构控制和Ｈ∞控制，由此得出的组合控制使系统精确跟踪期望的轨迹，抑制弹性振动，并且使由非线性机械结构引起的结构不确定性和由弹性变形引起的非结构不确定性及外扰具有较强的鲁棒性。最后通过仿真实验说明其有效性。
In this paper,a robust control method for trajectory tracking of multi-link flexible manipulator is presented.A slow subsystem and a fast subsystem are separated based on the singular perturbation method,which the sliding mode control method and H infinity control method are adopted in each subsystem respectively.By this combined control method,the tip of the flexible manipulator will track the expected trajectory more accurately and its flexible vibration will be suppressed effectively.A strong robustness is shown to the structure nondetermination caused by the non linear mechanical structure and the non-structure determination caused by the flexible displacement,and the outside disturbance.The simulation results are illustrated to prove the effectiveness of this control structure.
基金
国家自然科学基金
关键词
柔性机械臂
轨迹跟踪控制
鲁棒控制
机械臂
multi link flexible manipulator,singular perturbation,sliding mode control method, H infinity control,combined control
