具有死区非线性输入的柔性臂自适应边界控制  

Adaptive boundary control of flexible manipulators with dead-zone nonlinear inputs

作　　者：吕芳芳 楼旭阳[1] 叶倩[2] LYU Fangfang;LOU Xuyang;YE Qian(School of Internet of Things Engineering,Jiangnan University,Wuxi 214122,China;Wuxi Institute of Technology,Wuxi 214121,China)

机构地区：[1]江南大学物联网工程学院,江苏无锡214122 [2]无锡职业技术学院,江苏无锡214121

出　　处：《扬州大学学报（自然科学版）》2024年第5期16-24,共9页Journal of Yangzhou University：Natural Science Edition

基　　金：江苏省自然科学基金面上资助项目(BK20201340).

摘　　要：研究了具有死区非线性和输入信号量化的柔性机械臂系统的边界控制问题。考虑柔性臂系统分布参数的特点,采用偏微分方程和边界条件描述柔性机械臂系统的动力学模型,并采用随机量化器对输入信号进行量化。对于输入受限的柔性机械臂系统,设计了一种自适应边界控制器,使柔性机械臂系统到达期望角度的同时抑制柔性机械臂系统的振动。该控制方案既能保证系统的稳定性,又能在输入信号量化和死区非线性的前提下满足控制要求。同时,利用Lyapunov方法证明了柔性机械臂系统的最终一致有界性。最后,通过数值仿真验证了所提出方法的有效性。In this paper,the problems of boundary control of flexible manipulator systems with dead zone nonlinearity and input signal quantization are studied.Considering the characteristics of dis-tributed parameters in flexible systems,partial differential equations and boundary conditions are used to represent the dynamic model of the flexible manipulator system.A random quantizer is used to quantify the input signal.For a flexible manipulator system with limited input,an adaptive boundary controller is designed to suppress the vibration of the flexible robotic arm system while reaching the desired angle.This control scheme not only ensures the stability of the system,but also meets the control requirements under the premise of input signal quantization and dead zone nonlinearity.At the same time,the ultimate uniform boundedness of the flexible manipulator sys-tem is proved by the Lyapunov method.Finally,the effectiveness of the proposed method was veri-fied through numerical simulation.

关 键 词：柔性臂 死区非线性 边界控制 LYAPUNOV方法 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]