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

一、理论成果1。PDS反馈控制律根据柔性臂和柔性结构的分布参数模型，提出了具有比例、微分和应变反馈的PDS控制器。通过引入与分布参数系统总能量相关的李雅普诺夫函数，导出了PDS控制器的简单输出反馈控制律。利用李雅普诺夫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控制器是一个利用关节角（P）、角速度（D）和应变（S）数据的静态反馈控制器，该控制器实现简单.鲁棒力控制基于分布参数模型，提出了约束柔性臂的鲁棒力控制律和多柔性臂的鲁棒协调控制律。PDS反馈控制1.具有集中和分布式柔性的柔性结构2。具有闭环机构的柔性结构2.强大的力控制1.受约束的柔性臂2.一种协作式双双连杆柔性臂

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