Affiliation of Author(s):自动化学院
Journal:机械设计与制造工程
Key Words:柔性机械臂;轨迹跟踪控制;高阶滑模;
Abstract:针对双连杆柔性机械臂研究了一种高阶滑模轨迹跟踪控制方案。根据拉格朗日方程及能量守恒定律给出了柔性机械臂的动力学方程,并将动力学方程转化为三阶非线性系统模型,方便控制器的设计。在此基础上,利用高阶滑模理论设计了双连杆柔性机械臂轨迹跟踪控制方案,不仅能保证系统在有限时间内稳定,还能削弱传统滑模控制对系统造成的抖振。最后用仿真实验证明了该控制方法的有效性。
Translation or Not:no
Date of Publication:2017-11-15
Co-author:高欢
Correspondence Author:wqx
Professor
Supervisor of Doctorate Candidates
Gender:Male
Alma Mater:南京工学院
Education Level:With Certificate of Graduation for Study as Master's Candidates
Degree:Master's Degree in Engineering
School/Department:College of Automation Engineering
Discipline:Control Theory and Engineering. Control Science and Engineering
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