双连杆柔性臂轨迹跟踪的鲁棒控制  

ROBUST CONTROL FOR TRAJECTORY TRACKING OF A TWO LINK FLEXIBLE MANIPULATOR

作　　者：李元春[1] 陆佑方[2] 唐保健 

机构地区：[1]吉林工业大学控制科学与工程系 [2]吉林工业大学理学院

出　　处：《自动化学报》1999年第3期330-336,共7页Acta Automatica Sinica

基　　金：国家自然科学基金

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.

关 键 词：轨迹跟踪控制 鲁棒控制 柔性机械臂 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP241[自动化与计算机技术—控制科学与工程]