具有边界扰动柔性机械臂的鲁棒自适应边界控制

Robust Adaptive Boundary Control of a Flexible Manipulator with Unknown Boundary Disturbance

针对边界未知扰动和系统结构参数均具有不确定性的柔性机械臂系统,为了抑制其振动和提高振动控制效果,通过对柔性臂的结构参数估计,采用自适应和边界控制技术,设计了带有边界扰动观测器的鲁棒自适应边界控制对柔性臂振动进行控制。所设计控制算法能补偿结构参数不确定性和避免了控制溢出,边界扰动观测器能抑制和跟踪边界未知扰动的影响。随后利用Lyapunov综合法对控制系统的稳定性和一致有界性进行了证明。仿真结果进一步验证了该控制算法对抑制柔性臂振动的有效性。

To suppress the vibration and improve the vibration control for a flexible manipulator with the system parametric uncertainty and unknown boundary disturbance uncertainty, a robust adaptive boundary control with boundary disturbance observer is proposed by using adaptive control and boundary control technologies based on the manipulator＇s parameter estimation to suppress the vibration of the manipulator. With the proposed control scheme, system parameter uncertainty can be compensated and the control spillover problem can be avoided, and the boundary disturbance observer can attenuate and track the un- known boundary disturbance. The stability and uniform boundedness of the control system are both proved by Lyapunov＇s synthesis method. Simulation results demonstrate the effectiveness of the proposed control method to suppress the manipulator＇s vibration.