Modeling and Control of Two Manipulators Handling a Flexible Payload Based on Singular Perturbation

摘要：

A composite controller is designed based on singular perturbation model of two manipulators handling a flexible payload with external disturbances and parameters uncertainties,where an adaptive sliding mode controller is presented for the slow subsystem.The control algorithm can realize trajectory tracking control in the large range and update some values of parameters effectively,comparing with the conventional sliding mode control method.A robust optimal controller is designed to suppress the elastic vibration.Finally,the cooperative control input is shown through dual-time scale transform.Numerical simulation results validate the modeling method and control law.

关键词： singular perturbation flexible payload adaptive sliding mode control manipulator vibration suppression

作者: Zhiguo Tang Zhiguo Tang Yuanchun Li

作者单位: State Key Laboratory of Automobile Dynamic Simulation Jilin university Changchun,China Control Theory and Control Engineering Jilin university Changchun,China

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 558-562

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）