摘要
变结构控制系统是一类特殊的非线性控制系统,滑模控制就是其中一种。滑模控制对系统参数及扰动的变化反应迟钝,具有很强的鲁棒性,该类控制方法特别适合于机械臂系统的控制。本文中采用奇异摄动方法将双连杆柔性机械臂系统分解为慢变和快变两个子系统,并对慢变子系统采用滑模控制方法设计了控制器。采用MATLAB进行的数值仿真结果表明了所设计控制器的有效性。
Changing Structure Control System is a kind of special non- linearity control system, and Sliding Mode Control is the one. There have slow- reflection to the system parameter and interference change and also have strong robust performance in Sliding Mode Control. This control method is suit for the control to the manipulator system. The paper used singular perturbation method to separate the Two- link Flexible Manipulator system into slow sub - system and fast sub - system and designed controller using Sliding Mode Control method in slow sub - system. Numerical Simulation by the MATLAB environment indicates the validity of the designed controller.
出处
《计算技术与自动化》
2005年第4期16-18,共3页
Computing Technology and Automation
关键词
柔性机械臂
奇异摄动方法
滑模控制
数值仿真
flexible manipulator
singular perturbation method
sliding mode control
numerical simulation
