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基于混沌遗传算法的柔性机械手滑模控制器优化设计 总被引:2,自引:1,他引:1
针对柔性机械手动力学方程的非最小相位特点,本文提出一种柔性机械手的终端滑模控制方法,将关节电机转角和柔性模态变量的线性组合定义为柔性机械手系统的输出.通过输入输出线性化,将系统分解为输入输出子系统和零动态子系统.设计终端滑模控制策略,使输入输出子系统在有限时间收敛到零;利用混沌遗传算法优化控制器的设计参数,使零动态了系统在甲衡点附近渐近稳定,从而保证整个系统的渐近稳定.本文提出的方法设计过程简单,易于实现.仿真结果证明了设计的有效性. 相似文献
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参数不确定柔性机械手的快速终端滑模控制 总被引:2,自引:0,他引:2
针对具有参数不确定性的柔性机械手,采用重新定义系统输出的方法,将系统分解为输入输出子系统和零动态子系统.对于输入输出子系统提出了一种递阶快速终端滑模控制策略,使得输入输出子系统在有限时间内收敛.将零动态子系统在平衡点近似线性化以选择控制器的设计参数,使零动态子系统在平衡点附近渐近稳定,从而保证了整个柔性机械手系统的渐近稳定,对系统中的不确定性具有较强的鲁棒性.仿真结果验证了所提方法的正确性. 相似文献
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柔性机械手系统为非最小相位系统, 当控制有界时, 该特性阻碍其端点位移渐近跟踪期望轨迹. 本文首先重新定义柔性机械手系统的输出, 通过输入输出线性化, 将系统分解为输入输出子系统和零动态子系统; 然后提出一种用于观测柔性模态导数的鲁棒滑模观测器, 使状态估计达到预期的指标, 解决了柔性模态导数难以获得的问题; 设计积分滑模控制策略, 使输入输出子系统在有限时间收敛到零; 选择适当的控制器参数, 使零动态子系统在
平衡点附近渐近稳定, 从而保证整个系统的渐近稳定. 本文提出的方法设计过程简单, 易于实现. 仿真结果证明了设计的有效性. 相似文献
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利用输入输出线性化的方法,柔性机械臂的模型可分解为两个子系统:输入输出子系统和零动态子系统。输入输出子系统采用模糊控制。通过分析零动态子系统特征值和重新定义的系统输出中的设计参数之间的关系,确定设计参数,并使得零动态子系统渐近稳定于平衡点.从而保证整个系统渐近稳定。 相似文献
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参数不确定柔性机械手的终端滑模控制 总被引:2,自引:1,他引:1
针对参数不确定双臂柔性机械手系统, 提出一种基于遗传算法的终端滑模控制方法, 以实现其末端控制.基于输出重定义方法, 通过输入输出线性化, 将系统分解为输入输出子系统和内部子系统. 设计终端滑模控制策略,使输入输出子系统有限时间内收敛到零, 内部子系统变为零动态子系统; 采用遗传算法优化零动态子系统参数, 使其在平衡点附近渐近稳定. 根据Lyapunov稳定性理论算出末端输出位移的误差范围. 仿真结果证明该方法有效性. 相似文献
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本文仅利用输入输出数据给出了一种动态不确定多输入多输出系统的变结构控制器设计机制,控制系统的设计中引入了一个严格正实的模型.应用适当逻辑切换的状态变量滤波器实现变结构控制.证明了所提方案能保证全局输出有界稳定并能实现滑模控制和渐近跟踪参考模型的输出.该设计方案对结构不确定性具有一定的鲁棒性.仿真结果表明了所提方案的有效性. 相似文献
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A robust control method of a two-link flexible manipulator with neural networks based quasi-static distortion compensation
is proposed and experimentally investigated. The dynamics equation of the flexible manipulator is divided into a slow subsystem
and a fast subsystem based on the assumed mode method and singular perturbation theory. A decomposition based robust controller
is proposed with respect to the slow subsystem, and H
∞ control is applied to the fast subsystem. The overall closed-loop control is determined by the composite algorithm that combines
the two control laws. Furthermore, a neural network compensation scheme is also integrated into the control system to compensate
for quasi-static deflection. The proposed control method has been implemented on a two-link flexible manipulator for precise
end-tip tracking control. Experimental results are presented in this paper along with concluding remarks. 相似文献
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Identification of a two-link flexible manipulator using adaptivetime delay neural networks 总被引:2,自引:0,他引:2
Yazdizadeh A. Khorasani K. Patel R.V. 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》2000,30(1):165-172
This paper deals with identification of a two-link flexible manipulator belonging to a class of multi-input, multi-output (MIMO) nonlinear systems, by using adaptive time delay neural networks (ATDNNs). Two neuro-dynamic identifiers are proposed. The capabilities of the proposed structures for representing the nonlinear input-output map of the flexible manipulator are shown analytically. Selection criteria for specifying the fixed structural parameters as well as the adaptation laws for updating the adjustable parameters of the networks are provided. During identification, the two-link flexible manipulator is under nonlinear control and the input-output data sets are generated for different desired trajectories. Simulation results reveal that the proposed neuro-dynamic structures are capable of successfully identifying a highly nonlinear system without any a priori information about the nonlinearities of the system and without any off-line training. 相似文献
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This article presents a mixture of joint subsystem-based adaptive control and simple flexible quantity feedback for flexible-link manipulators. The complex full flexible-arm system is composed of two severely coupling subsystems called the joint subsystem and flexible subsystem. Linear parametrization is first used to design an adaptive law for identifying the unknown parameters of a flexible manipulator based only on the joint subsystem. Joint-angle trajectory tracking can thus be achieved using the derived stable nonlinear adaptive control with the estimates of unknown parameters. To stabilize the flexible subsystem, we can simply add the feedback of transversal acceleration or deflection at the end point and/or along the flexible beam. The suggested approach is much simpler than those based on the full dynamics model of a flexible arm in required computations. Computer simulations on a single-link and a two-link flexible arm are tested to illustrate the validity of the strategy for both trajectory tracking and active damping. © 1996 John Wiley & Sons, Inc. 相似文献
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In this article, we present an inverse dynamics control strategy to achieve small tracking errors for a class of multi-link structurally flexible manipulators. This is done by defining new outputs near the end points of the arms as well as by augmenting the control inputs by terms that ensure stable operation of the closed loop system under specific conditions. The controller is designed in a two-step process. First, a new output is defined such that the zero dynamics of the original system are stabilized. Next, to ensure stable asymptotic tracking, the control input is modified such that stable asymptotic tracking of the new output or approximate tracking of the actual output may be achieved. This is illustrated for the case of single- and two-link flexible manipulators. ©1997 John Wiley & Sons, Inc. 相似文献
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Yuanchun Li Baojian Tang Zhixia Shi Youfang Lu 《International journal of systems science》2013,44(1):3-9
In this paper, the dynamical equations of a two-link flexible manipulator moving in the vertical plane are derived. The system is divided into a fast subsystem and a slow subsystem via the singular perturbation method. Considering the characteristics of a flexible manipulator, a compensated controller is designed for each joint angle. A combined robust control algorithm is proposed, which includes a sliding mode variable structure for the slow subsystem and H infinity control strategy for the fast subsystem. Experimental results of this combined robust controller are compared with those of the standard PID controller and a significant performance is well demonstrated. 相似文献