| 引用本文: | 王艳敏,冯 勇.参数不确定柔性机械手的终端滑模控制[J].控制理论与应用,2008,25(6):1049~1052.[点击复制] |
| WANG Yan-min,FENG Yong.Terminal sliding mode control for flexible manipulators with uncertain parameters[J].Control Theory and Technology,2008,25(6):1049~1052.[点击复制] |
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| 参数不确定柔性机械手的终端滑模控制 |
| Terminal sliding mode control for flexible manipulators with uncertain parameters |
| 摘要点击 1775 全文点击 1169 投稿时间：2007-05-09 修订日期：2008-01-22 |
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| DOI编号 10.7641/j.issn.1000-8152.2008.6.014 |
| 2008,25(6):1049-1052 |
| 中文关键词 柔性机械手 终端滑模控制 遗传算法 |
| 英文关键词 flexible manipulator terminal sliding mode control genetic algorithm |
| 基金项目 国家自然科学基金资助项目(60474016, 60774040). |
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| 中文摘要 |
| 针对参数不确定双臂柔性机械手系统, 提出一种基于遗传算法的终端滑模控制方法, 以实现其末端控制.基于输出重定义方法, 通过输入输出线性化, 将系统分解为输入输出子系统和内部子系统. 设计终端滑模控制策略,使输入输出子系统有限时间内收敛到零, 内部子系统变为零动态子系统; 采用遗传算法优化零动态子系统参数, 使其在平衡点附近渐近稳定. 根据Lyapunov稳定性理论算出末端输出位移的误差范围. 仿真结果证明该方法有效性. |
| 英文摘要 |
| A terminal sliding mode control method based on genetic algorithm is proposed for the end-tip control of twolink flexible manipulators with uncertain parameters. The output of the manipulator system is redefined. By input-output linearization, the system is decomposed into an input-output subsystem and an internal subsystem. A terminal sliding mode control strategy is designed to make the input-output subsystem converge to zero in finite time. The internal subsystem is converted into a zero dynamic subsystem. A genetic algorithm is adopted to optimize the parameters of the zero dynamic subsystem to guarantee its asymptotical convergence to the neighborhood of the equilibrium point. The error range of end-tip output is calculated by Lyapunov stability theorem. Simulation results are presented to validate the design. |