| 柔性机械手的鲁棒控制器设计 |
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| 引用本文： | 张袅娜,冯勇,王冬梅,于兰. 柔性机械手的鲁棒控制器设计[J]. 控制与决策, 2006, 21(7): 750-754 |
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| 作者姓名： | 张袅娜 冯勇 王冬梅 于兰 |
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| 作者单位： | 长春工业大学,自动化系,长春,130012;哈尔滨工业大学,电气工程学院,哈尔滨,150001;哈尔滨工业大学,电气工程学院,哈尔滨,150001;长春工业大学,自动化系,长春,130012 |
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| 基金项目： | 国家自然科学基金项目（60474016）. |
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| 摘 要： | 针对柔性机械手的动力学方程具有非最小相位的特点，运用重新定义的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．考虑到柔性机械手系统存在的不确定性，设计终端滑模控制器，使输入输出子系统在有限时间内收敛到零．最优组合输出系数采用混沌遗传算法优化，以保证零动态子系统在平衡点附近渐近稳定，从而保证整个系统渐近稳定．仿真结果证明了设计方法的有效性．
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| 关 键 词： | 终端滑模控制 柔性机械手 混沌遗传算法 |
| 文章编号： | 1001-0920（2006）07-0750-05 |
| 收稿时间： | 2005-05-25 |
| 修稿时间： | 2005-09-27 |
Design of Robust Controller of Flexible Manipulators |
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| ZHANG Niao-na,FENG Yong,WANG Dong-mei,YU Lan. Design of Robust Controller of Flexible Manipulators[J]. Control and Decision, 2006, 21(7): 750-754 |
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| Authors: | ZHANG Niao-na FENG Yong WANG Dong-mei YU Lan |
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| Affiliation: | 1. Department of Automation, Changehun University of Technology, Changehun 130012, China; 2. Department of Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: | To the nonminimum-phase of two-link flexible manipulator, the system output is redefined. The system is decomposed into input-output subsystem and zero dynamics by means of input-output linearization. A terminal sliding mode control strategy is designed for the system with unmatched uncertainties to make the input-output subsystem converges in finite time. Moreover, the zero dynamics can be asymptotically stable at equilibrium point by choosing optimal output coefficient according to genetic algorithm based on chaos mutation. Thus, the whole original two-link flexible manipulator control system is guaranteed to be asymptotically stable. Simulation results show the validation of the design method. |
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| Keywords: | Terminal sliding mode control Flexible manipulator Chaos genetic algorithm |
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