弹性机器人的LQG/LTR控制

The LQG/LTR Conrtol for Flexible Manipulators

ＬＱＧ／ＬＴＲ（线性二次高斯／环路传递恢复）设计方法仅适合于最小相位系统。本文对单臂弹性机器人系统（非最小相位系统），进行适当的处理和对方法进行改进后，仍采用ＬＱＧ／ＬＴＲ方法设计控制器，得到的闭环系统有较强的鲁棒性。

Generally,the LQG/LTR method for designing is only suitable for minimum-phase system,In this paper,this method was still used for designing coutroler when proper treatment for one-link flexible robot system (nonminmum-phase system)is done and the method is modified.The closed-Loop system obtained was better robust.