摘要
针对双臂柔性机械手控制系统,提出了一种基于遗传算法的高阶终端滑模控制方法,以解决其非最小相位控制问题,实现末端位移控制。基于输出重定义方法,通过输入输出线性化,将系统分解为输入输出子系统和内部子系统,在此基础上,结合高阶滑模和终端滑模的控制思想设计输入输出子系统控制器,利用遗传算法优化内部子系统参数,以保证两个子系统稳定,同时削弱抖振对柔性模态的影响,提高末端位移控制精度。仿真结果证明了所提方法的有效性。
A high-order terminal sliding mode control method is proposed to solve non-minimum phase control problem and realize end-position control for two-link flexible manipulators.The method is based on genetic algorithm.The output of the manipulator system is redefined,and by input-output linearization,the system is decomposed into input-output subsystem and internal subsystem.To guarantee the stability of the two subsystems,a controller is designed by high-order sliding mode and terminal sliding mode for the input-output subsystem;and a genetic algorithm is adopted to optimize the parameters for the internal subsystem.The proposed method can weaken the influence of chattering on flexible modes and improve the precision of terminal controller.Simulation results are presented to validate the proposed method.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2009年第6期1563-1567,共5页
Journal of Jilin University:Engineering and Technology Edition
基金
国家自然科学基金项目(60474016
60774040)
关键词
自动控制技术
变结构控制
柔性机械手
终端滑模控制
高阶滑模控制
遗传算法
automatic control technology
variable structure control
flexible manipulator
terminal sliding mode control
high-order sliding mode control
genetic algorithm
