A SIMPLE APPROACH TO CONTROL OF FLEXIBLE MANIPULATORS WITH PARAMETER UNCERTAINTY
-
摘要: 本文讨论了具有模型不确定性的柔性机械手运动控制问题，给出了一种基于差分方程和最小二乘法的控制器设计方法．在快速采样的条件下，难于建模的不确定项可以直接忽略而不影响控制效果．通过一个柔性机械手的仿真表明，本文提出的控制方法可实现柔性机械手轨迹的准确跟踪，同时能消除柔性机械手的弹性振动．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.
-
Keywords:
- Flexible manipulator /
- tracking control /
- uncertain.
-
-
[1] Shouling He, Konrad Reif, Rolf Unbehauen. A Neural Approach for Control of Nonlinear Systems with FeedbackLinearization. IEEE Trans, Neural Networks, 1998,9(6): 1409－1421 [2] Chang Y C, Chen B S. A Nonlinear Adaptive H∞ Tracking Control Design in Robotic Systems. IEEE Trans, Contr SystTechnol, 1997,5(1): 13－29 [3] Shyu K K, Lin C Y. A Adaptive Sliding Mode Control for Variable Structure Systems with Constrain Control Input.Dyn Contr, 1996,6(1): 49－61 [4] Liming Yue, Hajrudin Pasic. A New Simple Method of Control of Robotic Manipulators with Uncertain Parameters. JRobotic System, 1998,15(10): 551－558
计量
- 文章访问数: 35
- HTML全文浏览量: 943
- PDF下载量: 360
下载:
