机械科学与技术2001，Vol.20Issue(2)：172-173,2.
基于奇异摄动的柔性机械手预测控制
Predictive Control of Flexible Manipulator Based on Singular Perturbation
摘要
Abstract
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.关键词
预测控制/柔性机械手/奇异摄动分类
信息技术与安全科学引用本文复制引用
张奇志,孙增圻,孙富春..基于奇异摄动的柔性机械手预测控制[J].机械科学与技术,2001,20(2):172-173,2.基金项目
国家自然科学基金项目(69685002)和原机械部教育司 基金项目资助 （69685002）
