重力作用下柔性机械手臂滑动模控制器的鲁棒设计*

Robust design of Sliding Mode Controller for Flexible Manipulators Under Gravity

中文关键词  柔性机械手臂  滑动模  极点配置  鲁棒性

英文关键词  flexible manipulators  sliding mode  pole assignment  robustness

中文摘要

      本文研究柔性机械手臂在竖直平面内的调节问题.首先给出了在重力作用下滑动模的运动方程；进而得到了滑动模极点配置问题的显解；最后给出了在非匹配参数扰动下使滑动模具有良好动态品质的鲁棒极点配置方法，从而解决了早期工作中提出的关于滑动模控制器设计中的极点配置及鲁棒性问题，为滑动模控制方法应用于柔性机械手鲁棒控制问题奠定了理论基础.

英文摘要

      This paper addresses the robust regulation problem of flexible manipulators moving on vertical plane. The sliding equations are first obtained using the existing dynamic model and switching function，the explicit solution of pole assignment for the sliding mode design is then presented；finally，robust pole placement approach is given to guarantee asymptotic stability of sliding motion under unmatched parameter variations. The robust pole assignment problem proposed by previous authors is therefore solved perfectly.