摘要
研究了双连杆柔性臂轨迹跟踪的鲁棒控制问题基于假设模态法和奇异摄动法，导出了双连杆柔性臂系统的动力学方程，并将系统模型分离为慢变和快变两个子系统．针对柔性臂的特点，提出了关节角的补偿控制思想，并且给出了补偿控制算法．对两个子系统分别采用滑模变结构控制和Ｈ∞控制，由此得到的组合控制使系统精确跟踪目标轨迹．研制了双连杆柔性臂实验台，并对文中提出的方法进行了实验．
In this paper, the robust problem for trajectory tracking of a two link fiexible manipulator is studied. Based on assumed mode method and singular perturbation method, dynamical equations of a two link flexible manipulator are derived, and the system is divided into a fast subsystem and a slow subsystem. Considering the characteristics of a flexible manipulator, a compensated controller is designed for each joint angle. Sliding mode variable structure control and H ∞ control are adopted respectively in the two sub systems which together can follow the traje ctory accurately . A tow link flexible manipulator station is manufactured for experiments using the method.
出处
《自动化学报》
EI
CSCD
北大核心
1999年第3期330-336,共7页
Acta Automatica Sinica
基金
国家自然科学基金
关键词
轨迹跟踪控制
鲁棒控制
柔性机械臂
Two link flexible manipulator, trajectory tracking control, robust control.
