控制理论与应用2011，Vol.28Issue(4)：511-518,8.
末端有未知扰动的分布参数柔性机械臂的鲁棒边界控制
Robust boundary control of a distributed-parameter flexible manipulator with tip unknown disturbance
摘要
Abstract
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.关键词
边界控制/偏微分方程/分布参数模型/Lyapunov直接法/指数稳定性Key words
boundary control/ partial differential equations(PDEs)/ distributed parameter model/ Lyapunov's direct method/ exponential stability分类
信息技术与安全科学引用本文复制引用
吴忻生,邓军..末端有未知扰动的分布参数柔性机械臂的鲁棒边界控制[J].控制理论与应用,2011,28(4):511-518,8.基金项目
2010年广东省安全生产专项资金资助项目(2010-95) （2010-95）
国家自然科学基金主任资助项目(61040011) （61040011）
华南理工大学中央高校基本科研业务费专项基金资助项目(2011zz0020). （2011zz0020）
