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

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

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.