单臂柔性机械手的H_∞鲁棒控制

Robust H ∞ Control for Single-Arm Flexible Manipulator

研究单臂柔性机械手的Ｈ∞控制和溢出抑制问题．用Ｌａｇｒａｎｇｅ假设模态法对柔性臂进行建模，截断高阶模态构造柔性臂的降阶模型．基于这个降阶模型，应用Ｈ∞控制理论设计一鲁棒降阶控制器．这样设计的闭环系统不但具有良好的跟踪性能，而且能够抑制溢出现象．

This paper investigates H ∞ control of a single-arm flexible manipulator and suppression of spillover phenomena by modelling of reduced order. First Lagrange-assumed model method is used to model this flexible arm and its reduced-order model (ROM) is obtained by truncating high order models. Then, based on this ROM, a robust H ∞ controller is designed using H control theory, so that the flexible arm has accurate end-point sensing and spillover phnomena do not occur. Finally, simulation results are presented to demonstrate the effectiveness of the control.