| 引用本文: | 吴忻生,邓军.末端有未知扰动的分布参数柔性机械臂的鲁棒边界控[J].控制理论与应用,2011,28(4):511~518.[点击复制] |
| WU Xin-sheng,DENG Jun.Robust boundary control of a distributed-parameter flexible manipulator with tip unknown disturbance[J].Control Theory and Technology,2011,28(4):511~518.[点击复制] |
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| 末端有未知扰动的分布参数柔性机械臂的鲁棒边界控 |
| Robust boundary control of a distributed-parameter flexible manipulator with tip unknown disturbance |
| 摘要点击 2500 全文点击 2009 投稿时间：2009-12-29 修订日期：2010-11-15 |
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| DOI编号 10.7641/j.issn.1000-8152.2011.4.CCTA091679 |
| 2011,28(4):511-518 |
| 中文关键词 边界控制 偏微分方程 分布参数模型 Lyapunov直接法 指数稳定性 |
| 英文关键词 boundary control partial differential equations(PDEs) distributed parameter model Lyapunov’s direct method exponential stability |
| 基金项目 2010年广东省安全生产专项资金资助项目(2010–95);国家自然科学基金主任资助项目(61040011);华南理工大学中央高校基本科研业务费专项基金资助项目(2011zz0020). |
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| 中文摘要 |
| 本文研究在柔性机械臂的末端具有未知扰动的边界控制, 以降低机械臂的振动. 柔性机械臂的动态特性由偏微分方程表示的分布参数模型描述. 在机械臂的末端边界基于Lyapunov直接法进行控制, 以调节机械臂的振动. 应用本文所提出的边界控制方法, 可达到外界干扰下的指数稳定性. 所提出的控制方法与系统参数无关, 可确保在参数变化下系统具有鲁棒性. 最后对所提控制方法的有效性进行了数值模拟. |
| 英文摘要 |
| A boundary control for a distributed-parameter flexible manipulator with tip unknown disturbance is developed to reduce the manipulator vibrations. The dynamic behavior of the flexible manipulator is described by a distributed parameter model in terms of partial differential equations(PDEs). The control is applied to the tip boundary of the manipulator based on the Lyapunov direct method to regulate the manipulator vibrations. With the proposed boundary control, the exponential stability under external disturbances is achieved. The proposed control is independent of system parameters, ensuring the robustness of the system performances to variations in parameters. Numerical simulations for demonstrating the effectiveness of the proposed control are presented. |