OPTIMAL CONTROL AND DESIGN OF FLEXIBLE MANIPULATORS BASED ON H∞ CONTROLLER

摘要：

The construction of lightweight manipulators with a larger speed range is one of the major goals in the design of well-behaving industrial robotic arms. However, due to the flexibility involved with link deformation and the complexity of distributed parameter systems, modeling and control of flexible manipulators still remain a major challenge to robotic research. Mechatronic design treats the mechanical, electrical and control components of a flexible manipulator concurrently.The result is an global optimal design with controller parameters which result in the control problem and modeling accuracy no longer being critical for obtaining desired performance while the coupling effects among subsystems being taken into account automatically. The state-space equation for the generalized plant is derived, an H∞ controller is described that internally stabilizes the close-loop system, but minimizes all impacts from system uncertainties and disturbances. The responses for step-type disturbance and step input are carried out to show the system robustness. At last, numerical results to various cases are presented.

关键词： Flexible manipulator Mechatronic design H∞ Controller

作者: LI TU JIN-LIAN DENG PI-XUAN ZHOU SHU-YOU ZHANG

作者单位: College of Mechanical and Energy Engineering, Zhejiang University, Hangzhou 310027, China;Department Department of Mechanical Engineering, Zhejiang Mechanical&Electrical College, Hangzhou 310053, China School of Systems and Industrial Engineering, The University of Arizona, Tucson, AZ 85721, USA College of Mechanical and Energy Engineering, Zhejiang University, Hangzhou 310027, China

会议类型: 国际会议

会议名称: 2006 International Conference on Machine Learning and Cybernetics(IEEE第五届机器学习与控制论坛)

会议地点: 大连

会议语种:英文

页码: 564-570

在线出版日期: 2006-08-13（万方平台首次上网日期，不代表论文的发表时间）