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

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

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.