基于混沌遗传算法的柔性机械手滑模控制器优化设计

The optimal design of terminal sliding controller for flexible manipulators based on chaotic genetic algorithm

针对柔性机械手动力学方程的非最小相位特点,本文提出一种柔性机械手的终端滑模控制方法,将关节电机转角和柔性模态变量的线性组合定义为柔性机械手系统的输出.通过输入输出线性化,将系统分解为输入输出子系统和零动态子系统.设计终端滑模控制策略,使输入输出子系统在有限时间收敛到零;利用混沌遗传算法优化控制器的设计参数,使零动态子系统在平衡点附近渐近稳定,从而保证整个系统的渐近稳定.本文提出的方法设计过程简单,易于实现.仿真结果证明了设计的有效性.

To deal with the non-minimum-phase characteristic, a terminal sliding mode control strategy is proposed for a two-link flexible manipulator. The system output is redefined as a function of the joint angles and the variables of the flexible modes. Through input-output linearization, the system is decomposed into input-output subsystems and zero-dynamics subsystems. A terminal sliding mode control strategy is designed to make the outputs of the input-output subsystems converge in a finite time. By adjusting the parameters in the optimal controller, which is designed by chaotic genetic algorithm, the outputs of the zero-dynamics subsystems will be made asymptotically stable at the equilibrium point. Thus, the original two-link flexible manipulator control system is guaranteed to be asymptotically stable. The control design procedure is simple and easy to be implemented. Simulation results are presented to validate the design.