张奇志. 参数不确定性柔性机械手控制的一种简单方法[J]. 机器人, 2000, 22(4): 256-259,281..
ZHANG Qi-zhi. A SIMPLE APPROACH TO CONTROL OF FLEXIBLE MANIPULATORS WITH PARAMETER UNCERTAINTY. ROBOT, 2000, 22(4): 256-259,281..
Abstract：The problem of controlling the motion of flexible manipulator is discu ssed. A simple designing method of controller is developed based on difference e quation and least-mean-square (LMS). If a faster sampling frequency is utilize d, some uncertain terms which are difficult to be characterized exactly can be n eglected, and the system performance can be held. Digital simulation results of single flexible manipulator are given to show that in the closed-loop system pr oposed by this paper accurate trajectory tracking and vibration damping can be a ccomplished.
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