平面欠驱动两杆柔性机械臂的全局稳定控制

Global stabilization control of underactuated horizontal two-link flexible manipulator

针对平面欠驱动两杆柔性机械臂,该文提出一种新的控制策略,实现了机械臂的全局稳定控制目标。首先,为机械臂系统引入一个同胚坐标变换,将其变换为一个结构简单的新系统;然后,将新系统分离为线性和非线性2个部分,利用等价输入干扰的概念为新系统设计控制器,以实现新系统的全局稳定控制目标,并通过坐标变换的同胚性使原机械臂系统的全局稳定控制问题得以解决。该文所提控制方法仅需利用机械臂的位置量信息设计控制器,这不仅能降低控制系统成本,而且还能有效避免速度噪音对控制性能的影响。数值仿真结果显示,所提的控制策略在机械臂系统的稳定运动过程及稳定时间等性能方面,均能达到令人满意的控制效果。

This paper presents a new control strategy for an underactuated horizontal two-link flexible manipulator （HTFM） to realize the global stabilization. First, a homeomorphous coordinate transformation is introduced to the original manipulator sys- tem to create a new simple nonlinear system. Then, the new system is divided into the linear and nonlinear parts, and the idea of equivalent-input-disturbance （EID） is used to design a controller that globally and asymptotically stabilizes the new system as goal. The global stabilization control problem for the underactuated HTFM is soloved by the fact that the transformation is ho- meomorphous. The presented control method just adopts the position information of HTFM to design the stabilizing controller, which can not only reduce the cost of the control system, but also avoid the influence of velocity noises on the control perform- ance effectively. The simulation results show that the stabilizing motion process, stabilizing time and other performances of the underactuated HTFM can achieve satisfactory results.