信息与控制2025，Vol.54Issue(2)：310-320,11.DOI:10.13976/j.cnki.xk.2024.0243
刚柔耦合探测系统的一致性跟踪及振动控制
Consensus Tracking and Vibration Control of Rigid-Flexible Coupled Detection Systems
摘要
Abstract
Facing the complex collaborative detection tasks,the leader-following consensus and vibration control issues are investigated under directed graphs for multiple rigid-flexible coupled detection systems.A single rigid-flexible coupled detection system is composed of a rigid manipulator,flexi-ble cables and the load at the end-effector.Firstly,by using Hamilton's principle,a distributed parameter dynamic model is established for a single system,which is represented by a set of partial and ordinary differential equations.Then,based on the system's distributed parameter model,a consensus boundary control strategy is designed to ensure that the rotational angles of rigid manipu-lators consistently follow the leader's desired angle,simultaneously suppressing the elastic deform-ation of flexible cables.By constructing a Lyapunov function and applying the LaSalle's Invariance Principle,the asymptotic stability of the closed-loop system is proven.Finally,numerical simula-tions in different cases are conducted to verify that the proposed control strategy can effectively a-chieve consensus tracking and vibration suppression.关键词
刚柔耦合机械系统/分布参数模型/一致性控制/振动抑制/有向图Key words
rigid-flexible coupled mechanical system/distributed parameter model/consensus control/vibration suppression/directed graph分类
计算机与自动化引用本文复制引用
刘伟民,李乐,王永越,刘金琨..刚柔耦合探测系统的一致性跟踪及振动控制[J].信息与控制,2025,54(2):310-320,11.基金项目
国家自然科学基金项目(62273020) （62273020）
