Adaptive Sliding Mode Control with Filtered Signals of Two Manipulators Handling a Flexible Payload

摘要：

two manipulators rigidly handling a flexible payload to track a predefined trajectory. The control law provides robustness against model parameters uncertainties and external disturbances. To suppress the elastic vibration,an adaptive optimal controller is designed. Implicit proof of the system stability is provided via Lyapunov Stability Theory. Finally,the cooperating control input is shown through two-time scale transform. Simulation results for two three-link manipulators handling a flexible beam are presented to validate the theoretical results.

作者: XU Jing TANG Zhiguo REN Xiaolin LI Yuanchun

作者单位: State Key Laboratory of Automobile Dynamic Simulation,Jilin University,Changchun 130022,P.R.China De Department of Control Science and Engineering,Jilin University,Changchun 130022,P.R.China

会议类型: 国际会议

会议名称: The 30th Chinese Control Conference(第三十届中国控制会议)

会议地点: 烟台

会议语种:英文

页码: 1-6

在线出版日期: 2011-07-01（万方平台首次上网日期，不代表论文的发表时间）