Two performance enhanced control of flexible-link manipulator with system uncertainty and disturbances  

作　　者：Bin XU Yuan YUAN 

机构地区：[1]School of Automation, Northwestern Polytechnical University [2]School of Automation Science and Electrical Engineering, Beihang University

出　　处：《Science China(Information Sciences)》2017年第5期21-31,共11页中国科学（信息科学）（英文版）

基　　金：supported by Beijing Natural Science Basic Research Plan (Grant No. 4142028);National Natural Science Foundation of China (Grant Nos. 61304098, 61622308);Aeronautical Science Foundation of China (Grant No. 2015ZA53003);Natural Science Basic Research Plan in Shaanxi Province (Grant Nos. 2014JQ8326, 2015JM6272, 2016KJXX-86);Fundamental Research Funds for the Central Universities (Grant Nos. 3102015AX001, 3102015BJ(II)CG017);Fundamental Research Funds of Shenzhen Science and Technology Project (Grant No. JCYJ20160229172341417)

摘　　要：Precision control of flexible-link manipulator for space operation is challenging due to the dynamics coupling and system uncertainty. In this paper, to deal with system uncertainty and time-varying disturbance,two performance enhanced controller designs, named Composite Learning Control and Disturbance Observer Based Control are presented respectively. To overcome the nonminimum phase, using output redefinition, the dynamics is transformed to two subsystems： internal system and input-output system. For the internal dynamics,the PD（proportion differentiation） control is used with pole assignment. For the input-output subsystem,considering the unknown dynamics, the composite learning control is designed using neural modeling error while in case of disturbance, the disturbance observer based design is proposed. The stability analysis of the closed-loop system is presented via Lyapunov approach. Simulation of 2-degrees of freedom（DOF） flexible-link manipulator is conducted and the results show that the proposed methods can enhance the tracking performance.Precision control of flexible-link manipulator for space operation is challenging due to the dynamics coupling and system uncertainty. In this paper, to deal with system uncertainty and time-varying disturbance,two performance enhanced controller designs, named Composite Learning Control and Disturbance Observer Based Control are presented respectively. To overcome the nonminimum phase, using output redefinition, the dynamics is transformed to two subsystems： internal system and input-output system. For the internal dynamics,the PD（proportion differentiation） control is used with pole assignment. For the input-output subsystem,considering the unknown dynamics, the composite learning control is designed using neural modeling error while in case of disturbance, the disturbance observer based design is proposed. The stability analysis of the closed-loop system is presented via Lyapunov approach. Simulation of 2-degrees of freedom（DOF） flexible-link manipulator is conducted and the results show that the proposed methods can enhance the tracking performance.

关 键 词：flexible-link manipulator composite learning control disturbance observer output redefinition system uncertainty 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] V441[自动化与计算机技术—控制科学与工程]