参数不确定性柔性机械手控制的一种简单方法

本文讨论了具有模型不确定性的柔性机械手运动控制问题，给出了一种基于差分方程和最小二乘法的控制器设计方法．在快速采样的条件下，难于建模的不确定项可以直接忽略而不影响控制效果．通过一个柔性机械手的仿真表明，本文提出的控制方法可实现柔性机械手轨迹的准确跟踪，同时能消除柔性机械手的弹性振动．

A SIMPLE APPROACH TO CONTROL OF FLEXIBLEMANIPULATORS WITH PARAMETER UNCERTAINTY

The problem of controlling the motion of flexible manipulator is discu ssed. A simple designing method of controller is developed based on difference e quation and least-mean-square (LMS). If a faster sampling frequency is utilize d, some uncertain terms which are difficult to be characterized exactly can be n eglected, and the system performance can be held. Digital simulation results of single flexible manipulator are given to show that in the closed-loop system pr oposed by this paper accurate trajectory tracking and vibration damping can be a ccomplished.