基于分布参数模型的柔性臂变结构力控制

提出一种基于受约束柔性臂分布参数模型的麦结构力控稍方法,避免了集中参数模型的缺陷,解决了系统存在模型不确定性和外部干扰影响下的力控制问题.通过Lyapunov函数设计了系统的变结构控制器,其中滑模面设计为系统转动角、转动角速度和柔性臂根部应变的线性组合.利用线性算子半群理论和LaSalle不变集原理,证明了闭环系统的渐近稳定性.仿真结果验证了该方法的有效性.

Variable structure force control of flexible manipulator based on distributed parameter model

In this paper,the variable structure force control method is proposed based on the distributed parameter model of constrained flexible manipulator,the drawbacks of lumped parameter model are avoided and the force stabilization problem of the system with uncertain model and disturbance is resolved.The variable structure controller is designed by using the Lyapunov function method,and the sliding surface is selected as a linear combination of joint angle,joint angle velocity and root strain of flexible manipu...