基于分布估计算法的柔性机械手滑模控制器设计与优化

Sliding-mode controller design and optimization for flexible manipulators based on estimation of distribution algorithms

为了提高柔性机械手末端位置控制的鲁棒性和精度,提出基于分布估计算法(EDA)的滑模控制器优化方法.首先通过奇异摄动理论将柔性机械手动力学解耦为快慢2个子系统,分别设计含待定参数的快慢子系统的滑模控制器,然后给出了基于EDA的控制器优化策略,对滑模控制器进行优化.最后通过仿真与传统滑模控制进行对比试验,结果显示该方法在响应速度、超调量、控制精度以及振动抑制方面都优于传统的滑模控制算法.

To improve the robustness and position precision of the endpoint control of flexible-link manipulators（FLMs）,a sliding-mode controller optimization method based on the estimation of distribution algorithm（EDA） is proposed.First,the dynamics of FLMs are decoupled into a slow subsystem and a fast one by using singular perturbation theory.Tw o sliding-mode controllers w ith uncertain parameters for the slow and fast subsystems are designed,respectively.Then,the controller optimization strategy based on the EDA is given,by w hich the sliding-mode controllers are optimized.Finally,a contrastive simulation on control of FLMs betw een the sliding-mode control based on the EDA and the traditional sliding-mode control is carried out.The results show that the former is superior to the latter on response speed,overshoot,control precision and vibration damping.