Modelng and Controller Design for Teleoperation of Master-Slowe Flexible Arms

I.Theoretical其中回答。基于柔性臂和柔性结构的分布参数模型，提出了比例反馈、导数反馈和应变反馈的PDS控制器。引入了与分布参数系统总能量相关的Lyapunov函数，推导了PDS控制器的简单输出反馈控制律。利用Lyapunov方法和不变性原理证明了闭环分布参数系统的渐近稳定性，由于PDS控制器是使用关节角(P)、角速度(D)和应变(S)数据的静态反馈控制器，因此该控制器实现简单。健壮。基于分布参数模型，提出了约束柔性臂的鲁棒力控制律和多柔性臂的鲁棒协同控制律。PDS反馈控制具有集中柔性和分布柔性的柔性结构具有闭环机构的柔性结构。鲁棒力控制约束柔性臂。两连杆柔性臂协同工作

I.Theoretical results1. PDS Feedback Control LawWe proposed PDS controller, being the proportional, derivative and strain feedback, on the basis of distributed parameter model of flexible arms and structures. We introduce a Lyapunov function related to the total energy of the distributed parameter system and derive a simple output feedback control law of PDS controller. Using the Lyapunov method and the invariance principle the asymptotic stability of the closed-loop distributed parameter system is proven, As the PDS controller is a static feedback controller using the joint angle(P), the angular velocity (D) and the strain (S) data, this controller admits simple implementation.2. Robust .Force ControlWe proposed robust force control law for constrained flexible arms and robust cooperative control law for multiple flexible arms on the basis of distributed parameter model.II.Experimental results1. PDS Feedback Control1. Flexible structures with lumped and distributed flexibility2. Flexible structures with closed-loop mechanism2. Robust Force Control1. Constrained flexible arms2. Cooperative two two-link flexible arms