双连杆柔性机械臂的奇异摄动控制

Singular Pertubation Control of Two-link Flexible Manipulator

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，分别采用滑模控制方法和极点极配置方法设计慢变和快变子系统的控制器，并进行了数值仿真。

This article is adopted the method of singular perturbation which will be sepa-rated slow sub-system and fast one by the system of two link flexible manipulator.Adopting sliding mode control and the method of the limit disposition respectivelyin designing the controller and engaging in the simultaion of algorithm.