基于鲁棒滑模观测器的两关节柔性机械手控制  

Control for a two-link flexible manipulator based on the robust sliding-mode observer

作　　者：张袅娜[1,2] 张德江[1] 尤文[1] 

机构地区：[1]长春工业大学自动化系,吉林长春130012 [2]吉林大学汽车工程学院,吉林长春130012

出　　处：《控制理论与应用》2009年第7期722-726,共5页Control Theory & Applications

基　　金：国家自然科学基金资助项目(60474016)

摘　　要：柔性机械手系统为非最小相位系统,当控制有界时,该特性阻碍其端点位移渐近跟踪期望轨迹.本文首先重新定义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;然后提出一种用于观测柔性模态导数的鲁棒滑模观测器,使状态估计达到预期的指标,解决了柔性模态导数难以获得的问题;设计积分滑模控制策略,使输入输出子系统在有限时间收敛到零;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.本文提出的方法设计过程简单,易于实现.仿真结果证明了设计的有效性.Flexible manipulators system is a nonminimum-phase system. This characteristic hinders the asymptotic tracking of a desired tip trajectory with a bounded control input. The outputs of a a two-link flexible manipulator are redefined in dealing with this problem. First, the system is decomposed into input-output subsystem and zero dynamics systems by employing the input-output linearization, and then, a robust sliding mode observer is developed for generating the unmeasured derivative of the flexible modes. An integral sliding-mode control strategy is designed for the input-output subsystem to make them converge in a finite time. Moreover, the zero dynamics system can be asymptotically stable at the equilibrium point by properly adjusting controller parameters. Thus, the whole control system for the two-link flexible manipulator is guaranteed to be asymptotically stable. Furthermore, the control design procedure is simple and easy to be implemented. Simulation results validate the design.

关 键 词：观测器 柔性机械手 积分滑模 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]