湖南工业大学学报Issue(1)：62-66,5.DOI:10.3969/j.issn.1673-9833.2014.01.013
基于观测器的柔性关节机械臂滑模控制
Observer-Based Sliding Mode Control of Flexible Joint Manipulator
黄华 1李光 2林鹏 2杨韵 2李庆2
作者信息
- 1. 湖南工业大学 电气与信息工程学院，湖南 株洲 412007
- 2. 湖南工业大学 机械工程学院，湖南 株洲 412007
- 折叠
摘要
Abstract
Flexible manipulator arm occurs twisted, elastic and shearing deformations in the process of movement, which brings difficulty to its analysis and control. In order to meet the requirements of high performance control of flexible arm, proposes the observer-based sliding mode control method for flexible manipulator, designs an observer to monitor the state variables of flexible manipulator arm system, and applies sliding mode variable structure to design the controller. The simulated result shows that the proposed method does well in observing the variables of the system and the state estima-tion error approaches to zero, which meets the fast tracking of flexible arm, and has good practical significance.关键词
柔性机械臂/滑模控制/状态观测器Key words
flexible manipulator arm/sliding mode control/state observer分类
信息技术与安全科学引用本文复制引用
黄华,李光,林鹏,杨韵,李庆..基于观测器的柔性关节机械臂滑模控制[J].湖南工业大学学报,2014,(1):62-66,5.
