双连杆柔性臂自适应模糊滑模控制

为使控制系统在负载和杆长变化时仍能快速、准确地跟踪期望轨迹,基于奇异摄动模型将双连杆柔性臂系统分解为慢变、快变2个子系统,提出了一种慢变子系统采用自适应模糊滑模控制、快变子系统采用最优控制的混合控制方法。其中自适应算法在线估计未知参数,模糊控制用来抑制由滑模控制引起的振动。仿真结果表明,该方法不仅能实现柔性臂轨迹的快速、准确跟踪,而且能有效地抑制弹性振动,并且对系统参数的变化具有较强的鲁棒性。该方法的特点是对系统中各个等效的摄动参数分别进行自适应估计和补偿,因而控制算法简单,易于工程实现。

Adaptive Fuzzy Sliding Mode Control for Two-link Flexible Manipulator

To track expectation locus accurately as the load and link length of two-link flexible manipulator varies, the control system was decomposed into two subsystems, slowly-changing subsystem and fast-changing subsystem based on the singular perturbation model. A hybrid control method, consisting of adaptive sliding mode control which was applied to slowly-changing subsystem and optimal control which was applied to fast-changing subsystem, was presented. The adaptive algorithm can estimate unknown parameters on-line, and fuzzy control can damp the vibration caused by sliding mode control. Simulation result shows that the proposed method not only can accurately and fast track the flexible manipulator locus, but also can effectively damp the elastic vibration, and is strongly robust to the variation of system parameters. The characteristic of the proposed method is that each equivalent vibration parameters can be adaptively estimated and compensated respectively, so it is simple and easy to implement.