柔性机械臂末端位置的滑模变结构控制

The Slide Mode Variable Structure Control of the End Position of Flexible Manipulater Arm

用拉格朗日结合假设模态法推出了单连杆柔住机械臂的动力学模型并转化成了适于控制系统综合的状态空间表达式,然后用滑模可达条件推出了柔性机械臂末端位置的变结构控制律,最后进行了仿真研究。

Using La Grange assumed model method,the dynamic model of single-link flexible arm and the state space expression is deduced. And then, the slide mode variable structure control rul of the end position of flexible arm is obtained. At last,a simulation study is made.