多连杆柔性机械手末端位置的非线性预测控制

讨论了多连杆柔性机械手末端位置的控制问题。给出了一种非线性预测与刚性运动ＰＤ 反馈相结合的混合控制器，该方法可避免逆动力学反馈控制遇到的零动力学不稳定问题，稳定性分析表明，单纯非线性预测控制和ＰＤ 控制都不易保证闭环系统的稳定性，而两种方法的混合控制可保证闭环系统的稳定性。通过一个双连杆柔性机械手的仿真表明，本文提出的控制方法可实现多连杆柔性机械手末端轨迹的准确跟踪，并能消除柔性机械手的弹性震动。

Nonlinear Predictive Tip position Control of Flexible Multi- link Manipulators

Tip position control of flexible multi link manipulators is discussed. An Integrated controller of nonlinear prediction and PD feedback of rigid motion is developed. This approach avoids the instability of the zero dynamics encountered in the inverse dynamics control. The stability of closed loop system is analysed, the research illustrates that the stability of closed loop system with only nonlinear predictive control or PD feedback of rigid motion is difficult to guarantee. But the combination of two methods can guarantee the stabiliy of closed loop system. Numerical simulation results of flexible two link manipulators are given to show that in the closed loop system proposed by this paper accurate tip point trajectory tracking and vibration damping can be accomplished.