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| 机械臂协调操作柔性负载自适应模糊滑模控制 | |
| 引用本文： | 唐志国,李元春,姜日花.机械臂协调操作柔性负载自适应模糊滑模控制[J].吉林大学学报(工学版),2011,41(2):484-490. |
| 作者姓名： | 唐志国 李元春 姜日花 |
| 作者单位： | 1. 吉林大学,汽车动态模拟国家重点实验室,长春,130022;吉林大学,通信工程学院,长春,130022 2. 吉林大学,通信工程学院,长春,130022 3. 吉林大学,中日联谊医院,长春,130033 |
| 基金项目： | 国家自然科学基金项目(60974010,60674091) |
| 摘 要： | 基于奇异摄动理论研究了机械臂协调操作柔性负载系统有限元模型的分解及控制问题。通过双时标变换将复杂的协调系统动力学模型分解成慢变子系统和快变子系统。针对慢变子系统,在其存在不确定性上界未知的情况下,设计了自适应模糊滑模控制器,以完成系统的轨迹跟踪性能;针对快变子系统,考虑到系统参数摄动等影响,设计了鲁棒最优控制器,以抑制系统的弹性振动。仿真结果验证了所设计控制方法的有效性。 |
| 关 键 词： | 自动控制技术 柔性负载 奇异摄动 自适应模糊滑模控制 有限元法 |
Adaptive fuzzy sliding mode control of flexible payload of mechanical arm coordinated manipulation |
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| TANG Zhi-guo,LI Yuan-chun,JIANG Ri-hua.Adaptive fuzzy sliding mode control of flexible payload of mechanical arm coordinated manipulation[J].Journal of Jilin University:Eng and Technol Ed,2011,41(2):484-490. | |
| Authors: | TANG Zhi-guo LI Yuan-chun JIANG Ri-hua |
| Affiliation: | TANG Zhi-guo1,2,LI Yuan-chun2,JIANG Ri-hua3(1.State Key Laboratory of Automobile Dynamic Simulation,Jilin University,Changchun 130022,China,2.College of Communication Engineering,3.China-Japan Union Hospital,Changchun 130033,China) |
| Abstract: | The decomposition and control of the finite element model for flexible payload system of mechanical arm coordinated manipulation were studied based on the singular perturbation theory.The dynamic model of complex coordinated system was divided into a slow subsystem and a fast subsystem by a dual time-scale transform.For the slow subsystem,when the upper bound of the uncertainty was unknown,an adaptive fuzzy sliding mode controller was designed to realize system trajectory tracking capability.For the fast su... |
| Keywords: | automatic control technology flexible payload singular perturbation adaptive fuzzy sliding mode control finite element method |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |