基于耦合滑模面的机械臂操作柔性负载系统分布参数控制

针对多变量刚柔耦合的机械臂操作柔性负载系统,提出了一种自适应滑模控制方法,研究了系统存在参数不确定性和外部干扰影响下的位置控制和振动抑制问题。系统动态特性由偏微分方程表示的分布参数模型来描述,避免了集中参数模型导致的溢出问题。基于对柔性负载的能量动态分析,设计了一种自适应滑模控制器,其中滑模面定义为关节角误差、关节角速度误差和柔性负载的根部应变和剪切力的耦合。利用LaSalle不变性原理,证明了闭环系统的渐近稳定性。最后仿真验证了所设计控制方法的有效性。

Distributed parameter control for system of manipulator handling a flexible payload based on coupled sliding surface

An adaptive sliding mode control method is proposed for the multivariable rigid-flexible coupling system of manipulator handling a flexible payload.The position control and vibration suppression are conducted under the system with parameter uncertain and unknown disturbance.The dynamic behavior of the system is described by a distributed parameter model in terms of partial differential equation,which avoids the drawback of the lumped parameter model.The adaptive sliding mode controller is designed based on the energy dynamics of the flexible payload.The sliding surface is selected as the coupling of the joint angle error and angular velocity error with the root strain and shear force of the flexible payload.The asymptotic stability of the closed-loop system is proved using the LaSalle invariance principle.Simulation results demonstrate the effectiveness of the proposed method.