多自由度柔性机械臂非线性连续时变反馈控制方法OACSTPCD

In order to solve the long control delay of the multi degree of freedom flexible manipulator and the large difference between the motion trajectory caused by by low rationality of the selection of the positioning control coefficient of the multi degree of freedom flexible manipulator in the current control process of the manipulator,a nonlinear continuous time-varying feedback control method for the multi degree of freedom flexible manipulator is proposed.Based on the Lagrangian operator,the dynamic model of a multi DOF flexible manipulator is built in the form of energy.Considering the load state of the manipulator and the heavy torque of the manipulator,the nonlinear continuous time-varying feedback control parameters of the manipulator are identified.The non-linear controller of the manipulator is constructed by setting the nonlinear continuous time-varying feedback control rules to realize the positioning control of the manipulator.The experimental results show that the proposed method can effectively improve the consistency of the manipulator motion track and the preset track,shorten the manipulator positioning control delay,and further reinforce the application effect of the manipulator.