控制理论与应用2024，Vol.41Issue(12)：2269-2276,8.DOI:10.7641/CTA.2023.20927
基于扰动观测器的柔性机械臂鲁棒边界控制
Robust boundary control of flexible manipulators based on disturbance observer
摘要
Abstract
In this paper,the boundary control of a flexible manipulator system with unknown boundary disturbances and unknown distributed disturbances is studied.In order to suppress the vibration of the flexible manipulator,a robust boundary controller with a disturbance observer based on the infinite dimensional partial differential equation model by Hamilton principle is designed to control the flexible manipulator.The stability and uniform boundedness of the control system are proven by using the Lyapunov method.The proposed control method requires fewer measured information and possesses robustness to unknown disturbance.Besides,the proposed boundary control strategy can ensure the vibration suppression of the flexible manipulator and the closed-loop system to be uniformly ultimately bounded.Finally,the effectiveness of the proposed controller to suppress the vibration of the flexible arm is verified through numerical simulations.关键词
柔性臂/边界控制/振动控制/扰动观测器/无穷维系统Key words
flexible manipulator/boundary control/vibration control/disturbance observer/infinite dimensional system引用本文复制引用
陈岽,楼旭阳,崔宝同..基于扰动观测器的柔性机械臂鲁棒边界控制[J].控制理论与应用,2024,41(12):2269-2276,8.基金项目
江苏省自然科学基金面上项目(BK20201340)资助.Supported by the National Natural Science Foundation of Jiangsu Province(BK20201340). （BK20201340）
