Robust boundary control of a distributed-parameter flexible manipulator with tip unknown disturbance
Robust boundary control of a distributed-parameter flexible manipulator with tip unknown disturbance
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发表时间：
2011
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通讯作者：
Deng Jun
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作者：
Deng Jun
针对具有末端未知扰动的分布参数柔性机械臂，提出了一种降低机械臂振动的边界控制方法。采用偏微分方程的分布参数模型描述了柔性机械臂的动力学行为。基于李亚普诺夫直接法对机械臂的尖端边界进行控制，以调节机械臂的振动。利用所提出的边界控制，实现了系统在外界干扰下的指数稳定性。所提出的控制与系统参数无关，保证了系统性能对参数变化的鲁棒性。通过数值仿真验证了所提控制方法的有效性。
A boundary control for a distributed-parameter flexible manipulator with tip unknown disturbance is developed to reduce the manipulator vibrations.The dynamic behavior of the flexible manipulator is described by a distributed parameter model in terms of partial differential equations(PDEs).The control is applied to the tip boundary of the manipulator based on the Lyapunov direct method to regulate the manipulator vibrations.With the proposed boundary control,the exponential stability under external disturbances is achieved.The proposed control is independent of system parameters,ensuring the robustness of the system performances to variations in parameters.Numerical simulations for demonstrating the effectiveness of the proposed control are presented.