柔性臂的主极点设置控制(英文)

Dominant Pole Placement Control of a Flexible Arm

柔性臂控制是一个活跃的研究课题，已经有不少结果．最多用的方法是通过模态分析以控制柔性臂低价振型（一般为首一或二个振型）．本文提出一种“主极点”（ＤｏｍｉｎａｎｔＰｏｌｅｓ）控制器，它可以控制任何数目的低价振型而不失稳定性，该控制器可以方便地转变为自适应控制器以应付数学模型中模态频率与阻尼系数与实际柔性臂之间的误差．本文用李雅普诺夫理论证明了本控制系统的全局稳定性（Ｇｌｏｂａｌｓｔａｂｉｌｉｔｙ）．

Control of a flexible arm is an active research topic with many available results.A popular approach is to apply modal analysis to a flexible arm and suppress its first few vibration modes.This research presents a simple method to control a flexible arm by focusing on the dominant poles.The controller is able to deal with as many modes as the feedback sensor system allows.It can be incorporated with an adaptive law to deal with uncertainties hidden in the mode frequencies and damping ratios.Stability of the closed loop system is established in the Lyapunov sense.