| 引用本文: | 刘振国,武玉强.随机激励下单杆柔性关节机械臂的建模与控制[J].控制理论与应用,2014,31(8):1105~1110.[点击复制] |
| LIU Zhen-guo,WU Yu-qiang.Modeling and control for single-link flexible-joint arm with random disturbances[J].Control Theory and Technology,2014,31(8):1105~1110.[点击复制] |
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| 随机激励下单杆柔性关节机械臂的建模与控制 |
| Modeling and control for single-link flexible-joint arm with random disturbances |
| 摘要点击 2715 全文点击 1449 投稿时间：2013-11-12 修订日期：2014-03-28 |
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| DOI编号 10.7641/CTA.2014.31189 |
| 2014,31(8):1105-1110 |
| 中文关键词 自适应系统 柔性关节机械臂 随机扰动 位置跟踪 动态面控制 |
| 英文关键词 adaptive systems flexible joint arm random disturbances position tracking dynamic surface control |
| 基金项目 国家自然科学基金资助项目(61273091); 教育部博士点基金资助项目; 山东省泰山学者资助项目. |
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| 中文摘要 |
| 机械系统如移动机器人、机械臂等在运动过程中通常会受到随机干扰. 针对随机激励下单连杆柔性机械臂的数学建模和控制问题, 目前还没有相关的研究. 本文引入随机干扰, 建立了一个具有未知参数的随机动力学模型. 然后通过坐标变换, 将该模型化成一个4阶系统. 在此基础上, 结合自适应理论, 动态面方法和Lyapunov方法, 设计了一种新的控制器. 这种控制器有效地避免了传统方法中的过参数估计和复杂性爆炸的问题, 同时可以保证跟踪误差在均方意义下任意小, 且闭环系统的所有信号依概率有界. 最后通过一个仿真例子验证了本文理论的有效性. |
| 英文摘要 |
| Mechanical systems such as mobile robots, manipulators are usually vulnerable to the random noises in the movement process. For the mathematical modeling and control problems of single link flexible joint arm under random disturbances, there is no related research achievement up to now. For these systems, we adequately introduce some random noises to build a stochastic dynamic model with uncertain parameters. Then, by using the coordinate transformation,
we transform this model to a fourth-order nonlinear system. On this basis, we employ the adaptive control theory, the dynamic surface method and Lyapunov method to build up a new controller. This controller effectively avoids the overparameterization and the explosion of complexity in routine controllers, and ensures the mean-square value of the tracking error to be arbitrarily small and all the signals in the closed-loop system to be bounded in probability. Finally, an example
in the simulation is given to show the effectiveness of the presented theory. |
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