控制理论与应用2024，Vol.41Issue(8)：1417-1426,10.DOI:10.7641/CTA.2023.20590
在线数据记录和扰动观测器相结合的柔性机械臂复合学习控制
Composite learning control of flexible-link manipulator with online recorded data and disturbance observer
摘要
Abstract
For the dynamics of multiple input multipe output(MIMO)flexible-link manipulator,this paper investigates a composite learning controller based on the neural networks(NN)and disturbance observer.Firstly,the system is decoupled into the fast and slow subsystems by singular perturbation analysis.Then for the slow-varying dynamics,a novel prediction error is constructed based on the online recorded data scheme.The update law for NN weights is designed by combining the tracking error.A sliding mode controller is constructed to suppress the flexible modes.Furthermore,a disturbance observer is built to estimate the compound disturbance,which is also used as the feedforward compensation of the online recorded data scheme.The boundedness of the system signals is proved via the Lyapunov approach.The simulation test illustrates the effectiveness and superiority of the proposed approach.关键词
柔性机械臂/在线数据记录/扰动观测器/复合学习控制Key words
flexible-link manipulator/online recorded data/disturbance observe/composite learning control引用本文复制引用
钱伟,徐海钦,王霞,许斌..在线数据记录和扰动观测器相结合的柔性机械臂复合学习控制[J].控制理论与应用,2024,41(8):1417-1426,10.基金项目
国家自然科学基金项目(61973105)资助.Supported by the National Natural Science Foundation of China(61973105). （61973105）
