柔性机械手的鲁棒控制器设计  

Design of Robust Controller of Flexible Manipulators

作　　者：张袅娜[1] 冯勇[2] 王冬梅[1] 于兰[1] 

机构地区：[1]长春工业大学自动化系,长春130012 [2]哈尔滨工业大学电气工程学院,哈尔滨150001

出　　处：《控制与决策》2006年第7期750-754,共5页Control and Decision

基　　金：国家自然科学基金项目(60474016)

摘　　要：针对柔性机械手的动力学方程具有非最小相位的特点,运用重新定义的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零动态子系统.考虑到柔性机械手系统存在的不确定性,设计终端滑模控制器,使输入输出子系统在有限时间内收敛到零.最优组合输出系数采用混沌遗传算法优化,以保证零动态子系统在平衡点附近渐近稳定,从而保证整个系统渐近稳定.仿真结果证明了设计方法的有效性.To the nonminimum-phase of two-link flexible manipulator, the system output is redefined. The system is decomposed into input-output subsystem and zero dynamics by means of input-output linearization. A terminal sliding mode control strategy is designed for the system with unmatched uncertainties to make the input-output subsystem converges in finite time. Moreover, the zero dynamics can be asymptotically stable at equilibrium point by choosing optimal output coefficient according to genetic algorithm based on chaos mutation. Thus, the whole original two-link flexible manipulator control system is guaranteed to be asymptotically stable. Simulation results show the validation of the design method.

关 键 词：终端滑模控制 柔性机械手 混沌遗传算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]