Hybrid control scheme for robust tracking of two-link flexible manipulator

被引：26
|
作者：
Lee, SH [1 ]
Lee, CW
机构：
[1] KIA Motors Corp, Kwang Myung Shi, Kyungki Do, South Korea
[2] Korea Adv Inst Sci & Technol, Dept Mech Engn, Taejon 305701, South Korea
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2002年 / 34卷 / 04期
关键词：
hybrid control scheme; two-link flexible manipulator; variable structure control; flexible vibrations; hybrid trajectories; virtual control force; robust tracking control; composite control scheme; payload uncertainty;
D O I：
10.1023/A:1019691501134
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The hybrid control scheme is proposed to stabilize the vibration of a two-link flexible manipulator while the robustness of Variable Structure Control (VSC) developed for rigid manipulators is maintained for controlling the joint angles. The VSC law alone, which is designed to accomplish only the asymptotic decoupled joint angle trajectory tracking, does not guarantee the stability of the flexible mode dynamics of the links. In order to actively suppress the flexible link vibrations, hybrid trajectories for the VSC are generated using the virtual control force concept, so that robust tracking control of the flexible-link manipulator can also be accomplished. Simulation results confirm that the proposed hybrid control scheme can achieve more robust tracking control of two-link flexible manipulator than the conventional control scheme in the presence of payload uncertainty.
引用
收藏
页码：431 / 452
页数：22
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