基于奇异摄动的柔性机械手预测控制

摘要

The tip-position control of flexible manipulator is discussed. Using the singular perturbation theory, the full-order flexible dynamics system is decomposed into slow(rigid) and fast(flexible) subsystems. An integrated control method of predictive control and I/O feedback linearization is developed. The predictive control is utilized to damp the flexible vibrations. The instability of the zero dynamics encountered in the inverse dynamics control and I/O feedback linearization can be avoided. Digital simulation results for a single flexible manipulator is given to show that accurate tip-point trajectory tracking and vibration damping can be accomplished in the closed-loop system.%讨论了柔性机械手末端位置的控制问题。采 用奇异摄动方法将柔性机械臂系统动力学方程分解为慢变（刚性）和快变（弹性）两个子系 统。给出了一种预测控制与I/O反馈线性化相结合的混合控制方法。该方法采用预测控制消 除柔性机械手的弹性振动，可避免逆动力学和I/O反馈线性化控制遇到的零动力学不稳定问 题。通过一个柔性机械手的仿真表明，本文提出的控制方法可实现柔性机械手末端轨迹的准 确跟踪，同时能消除柔性机械手的弹性振动。