机器人柔性手臂混合ITAE最佳鲁棒控制研究

Research on Mixed ITAE and H_∞PID Robust Control of the Flexible Manipulator

机器人柔性手臂动力学模型的复杂性及客观系统中的不确定因素,使传统的控制系统很难达到预定的控制要求,寻求鲁棒性强的控制策略势在必行。针对模型参数及扰动的不确定性,进行混合ITAE最佳控制、H∞PID鲁棒控制策略研究,同时利用遗传算法(GA)的隐含并行性和全局搜索特点整定控制器的控制参数以达到混合ITAE、H∞优化性能,并用MATLAB软件进行数值仿真,结果表明这种控制设计方法适用于柔性机器人手臂的控制。

The complexity of dynamic model of the flexible manipulator and parameter perturbation and uncertain disturbance in the system has emphasized the idea of applying new robust control in order to attain both stability and good performance which the tradi tional controllers can't achieve at the same time .A systematic controller design approach is proposed to guarantee both closed -loop stability and desired performance of the overall system by effectively combining genetic algorithms (GAs )with mixed ITAE and H ∞ robust PID controller design method.The results of simulation demonstrated the effectiveness of the proposed approach on the flexible manipulator.