张宇, 杨唐文, 孙增圻. 基于神经滑模的柔性连杆机械手末端位置控制[J]. 机器人, 2008, 30(5): 404-409,415.
引用本文: 张宇, 杨唐文, 孙增圻. 基于神经滑模的柔性连杆机械手末端位置控制[J]. 机器人, 2008, 30(5): 404-409,415.
ZHANG Yu, YANG Tang-wen, SUN Zeng-qi. Neuro-Sliding Mode Endpoint Control of Flexible-link Manipulators[J]. ROBOT, 2008, 30(5): 404-409,415.
Citation: ZHANG Yu, YANG Tang-wen, SUN Zeng-qi. Neuro-Sliding Mode Endpoint Control of Flexible-link Manipulators[J]. ROBOT, 2008, 30(5): 404-409,415.

基于神经滑模的柔性连杆机械手末端位置控制

Neuro-Sliding Mode Endpoint Control of Flexible-link Manipulators

  • 摘要: 为了提高柔性机械手末端位置控制的鲁棒性和精度,提出了一种基于神经滑模的控制策略.首先采用输入/输出线性化方法将动力学模型部分线性化,使之分成输入/输出子系统与内动态子系统.输入/输出子系统采用神经滑模控制,内动态子系统采用状态反馈控制器镇定.随后,对控制系统内动态稳定性进行了分析,并在两自由度柔性连杆机械手控制的仿真试验中得到了满意的结果.试验结果表明,在存在模型不确定性时,该控制策略提高了控制系统的鲁棒性和控制精度.

     

    Abstract: To improve the robustness and position precision of endpoint control of flexible-link manipulators(FLMs), a control strategy based on neuro-sliding mode(NSM)is proposed.Firstly,the dynamics model is partially linearized by input-output linearization method,so it is separated into two subsystems of input-output subsystem and internal dynamics subsystem.An NSM controller is designed to control the input-output subsystem while a states feedback controller is employed to stabilize the internal dynamics subsystem.Then,stability of the internal dynamics is analyzed,and satisfactory results are obtained in the simulation of controlling a 2DOF FLM.The results indicate that the presented method improves the robustness and position precision of the FLM system when model uncertainty is considered.

     

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