Model-Free Control of Flexible Manipulator Based on Intrinsic Design
Model-Free Control of Flexible Manipulator Based on Intrinsic Design
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DOI：
10.1109/tmech.2020.3043772
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发表时间：
2020-12
期刊：
影响因子：
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通讯作者：
Naijing Jiang;Shu Zhang;Jian Xu;Dan Zhang
中科院分区：
文献类型：
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作者：
Naijing Jiang;Shu Zhang;Jian Xu;Dan Zhang
本文提出一种无模型控制器来抑制定位过程后由于连杆柔性引起的残余振动。控制器被设计为通过重复包括两个步骤的序列来快速释放势能。在第一步中，控制器作为一个阻尼器吸收变形能量，而在第二步中，神经网络控制的目的是顺利返回到目标位置。该控制器结构简单，所需的反馈信号仅来自电机编码器。通过李雅普诺夫稳定性分析，证明了位置误差在一个小邻域内收敛到零。该控制器的有效性进行了测试，在三个应用程序中，在水平面上的单连杆柔性机械臂的实验研究和两个仿真研究的两个连杆柔性机械臂在水平面和垂直面，分别。与其他控制器相比，在这三种应用中，建立时间缩短，能量效率提高。
In this article, a model-free controller is proposed to suppress residual vibration caused by the linkage flexibility after the positioning process. The controller is designed to release the potential energy rapidly by repeating a sequence comprising two steps. In the first step, the controller acts as a damper to absorb the deformation energy, whereas in the second step, neural network control is introduced for the purpose of returning to the target position smoothly. The controller is simple, and the only required feedback signal is from the motor encoder. The position error is proved to converge to zero within a small neighborhood through Lyapunov stability analysis. The effectiveness of the controller is tested in three applications, an experiment study on a single-link flexible manipulator in horizontal plane and two simulation studies on a two-link flexible manipulator in horizontal plane and vertical plane, respectively. The settling time is decreased and energy efficiency is improved in all the three applications comparing with other controllers.