基于滑模技术的单杆柔性机械臂的调节控制

提出一种运用滑模控制技术设计单连杆柔性机械臂鲁棒控制器的方法。滑模控制应用于柔性臂的刚性运动和弹性振动的控制;而极点配置技术的应用,主要是设置滑模面的极点,以获得良好的动态响应特性。实例仿真结果表明,该控制方案能有效地抑制柔性臂的弹性振动,对不确定参数具有鲁棒性。

One-link Flexible Robot Manipulator Control Using Sliding-Mode Approach

In this paper,a robust controller,using sliding-mode control is proposed to control a one-link robot manipulator. The sliding-mode technique is used to regulate both rigid body motion and flexible vibration, and pole placement design methodology is applied to attain a good dynamic response by placing the poles of the sliding plane. Simulation results confirm that the proposed controller has robust for the parameter uncertainty and can eliminate the flexible vibration.