末端有未知扰动的分布参数柔性机械臂的鲁棒边界控制

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 robusmess of the system performances to variations in parameters. Numerical simulations for demonstrating the effectiveness of the proposed control are presented.%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.