双连杆柔性臂的鲁棒轨迹控制  

A ROBUST TRAJECTORY TRACKING CONTROL METHOD FOR TWO-LINK FLEXIBLE MANIPULATORS

作　　者：李元春[1] 张广成[1] 唐保健 陆佑方 

机构地区：[1]吉林工业大学,吉林长春130025

出　　处：《兵工学报》1997年第4期334-337,共4页Acta Armamentarii

基　　金：国家自然科学基金

摘　　要：对双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。基于奇异摄动法将双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则使系统精确跟踪期望的轨迹，抑制弹性振动。最后，通过实验台对本文提出的控制方法进行了实验研究。A robust control method for the trajectory tracking of two-link flexible manipulators is presented. A slow subsystem and a fast subsystem have been separated based on the singular perturbation method in which the sliding-mode control method and the H infinity control method are adopted in each subsystem respectively. Using 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. Experimental research have been made in the experimental station using the method of this paper.

关 键 词：柔性机械臂 奇异摄动法 滑模控制 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]