Vibration suppression control of flexible robot arm with CMS modeling and output feedback sliding mode controller

摘要

A reduced order output feedback control algorithm based on a low order modeling methodology for suppressing the vibration and obtaining high speed, high precision positioning of the flexible robot arm is proposed and discussed. The proposed low order modeling methodology gives no modal truncation error and makes it possible to vary the mode shapes of the link according to the change of the boundary conditions due to the feedback gains and the payload at the tip of the arm. Furthermore, this methodology can take into account not only the flexibility of links but also the flexibility of joints. The reduced order output feedback control algorithm is designed by the combination of sliding mode controller and suboptimal output feedback controller so as to achieve both the damping of the system vibration and the stabilization at the same time. The results of numerical simulation and of experiment for a two-link robot arm model prove that the proposed modeling methodology is able to describe the dynamic behaviors of the arm, and the controller designed applying the suboptimal output feedback sliding mode control is able to control the arm quite well.