柔性机械臂末端位置的变结构模型参考自适应控制

VARIABLE STRUCTURE MODEL REFERENCE ADAPTIVE CONTROL OF THE END POSITION OF A FLEXIBLED MANIPULATOR ARM

摘要: 本文用变结构方法设计柔性机械臂的模型参考自适应控制律．首先用最优状态反馈方法构造了参考模型，然后定义了末端位置误差，构造了滑模曲线，接着用变结构方法推导了自适应控制律，最后针对一具体柔性臂作了仿真研究，验证了理论的正确性并给出了一些有意义的结论．

Abstract: This paper has designed the model reference self-adaptive controllaw of aflexible manipulatorusing variable structure method.We First get areference model with optimal state feedback method,then de-fine the end position error and sliding mode curve,next get the self-adaptive contro lrule.Finally made a sim-ulation study demo nstrating the correctness of the theory.