基于滑动模态的柔性臂的鲁棒自适应PD控制器

讨论了柔性臂的轨迹跟踪问题.应用奇异摄动理论将柔性臂的动力学方程分解成两个降维的子系统,并分别采用鲁棒自适应PD控制和最优控制.仿真结果表明,这种混合控制策略不但可以快速、准确地跟踪给定轨迹,而且解决了传统PD控制中初始力矩过大的问题,并具有很强的鲁棒性.

Adaptive Robust PD Controller Design Based on a Sliding Mode for Flexible Manipulators

The trajectory tracking of flexible manipulators is discussed. Using the singular perturbation approach and two-time-scale method, the dynamic model is decomposed into slow and fast subsystems. An adaptive robust PD controller motivated from the sliding mode control is proposed to track the trajectory for the slow-subsystem. An optimal controller is designed to damps out the vibration caused by flexible modes contained in fast-subsystem. Simulation results for a two-link flexible manipulator are given to show the effectiveness of the proposed controllers.