摘要
采用一次近似模型对柔性机械臂的运动跟踪主动控制问题进行研究,控制策略采用最优跟踪控制方法。仿真结果显示,一次近似模型能够较好地对柔性机械臂的动力学行为进行描述,最优跟踪控制方法能使机械臂到达期望的指定位置,并可使机械臂的残余振动得到抑制。
In this paper, a first-order approximation model is used for active position control of the flexible manipulator, in which the optimal controller is designed by the optimal tracking control theory. Simulation results demonstrate that the first-order approximation model can accurately describe the dynamics of the flexible manipulator system. The desired position of the manipulator can be obtained by the optimal tracking controller and the residual vibration of the manipulator can be repressed as well.
出处
《机械科学与技术》
CSCD
北大核心
2005年第10期1178-1180,1216,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(10472065)
上海市自然科学基金项目(03ZR14062)
上海市"曙光计划"项目资助
关键词
零次近似模型
一次近似模型
最优跟踪控制
Position control
First-order approximation model
Optimal tracking control
