基于积分流形的柔性机械手组合控制

Combination control of flexible manipulator based on integral manifolds

为解决柔性机械手非最小相位的控制问题以及克服运动中的抖振,采用积分流形和奇异摄动理论,将柔性机械手系统分解为快慢两个子系统.对于慢变子系统,设计一种基于一阶鲁棒微分估计器的二阶滑模控制策略,使其轨迹跟踪期望值;对于快变子系统,采用频率成形滤波器设计动态补偿器来抑制弹性振动,并基于线性二次型最优控制方法给出相应的最优控制规律,使系统的输出快速趋于稳定.仿真结果表明了该控制策略的有效性.

To address its non-minimum phase characteristics and suppress the oscillation of a two-link flexible manipulator, integral manifolds and the singular perturbation approach are used to decompose the robots into a slow subsystem and a fast subsystem. Second-order sliding mode control strategy based on differential estimator is proposed for the stow subsystem. The rigid motion tracks a desire trajectory using second-order sliding mode control. The dynamic compensator using frequency-shaping filter for the fast subsystem is studied in order to attenuate the oscillatory of the link. The optimal control strategy is proposed based on linear quadratic stabilize the fast system. Simulation results show the effectiveness of the design.