一种混合结构柔性臂的轨迹跟踪控制器设计

Design of a Trajectory Tracking Controller for a Hybrid Structured Flexible Arm

本文对混合结构柔性臂进行了刚柔分离建模,针对其轨迹跟踪控制问题,采用滑模控制法对刚性模型设计了轨迹跟踪控制器,并采用Barrier Lyapunov函数结合反演方法对柔性模型求解过程中存在部分变大的状态变量进行合理的输出约束。

In this paper,firstly,the rigid-flexible separation modeling is carried out for the hybrid structure flexible robotic arm.Secondly,for its trajectory tracking control problem,a trajectory tracking controller is designed for the rigid model by using the sliding mode control method.And the jitter vibration in the sliding mode control process is suppressed by using the saturation function.Finally,for the problem that the state variables have changed greatly in the solution of the flexible deviation part model,the Barrier Lyapunov function combined with backstepping method were used to constrain the output of the state variables.