Adaptive Servo Control Based on LQR for Flexible Master-Slave System

摘要：

In this study, an adaptive servo controller based on LQR is designed for flexible master-slave system (FMSS). A dynamics model, observer and servo controller based on LQR is built respectively. According to the parameter sensitive experiments, adaptive servo controller based on LQR is designed. This research focuses on the performance.of rapid response and vibration suppression. Experimental results indicate that adaptive servo controller, which suppresses the saturation of the input torque to ensure the stability, has achieved short time delay, and adequate vibration suppression.

关键词： Flexible master-slave arm Parameter sensitivity Vibration suppression Adaptive servo control

作者: JIA Bailong LIU Ying KOBAYASHI Yukinori

作者单位: School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China Graduate School of Engineering, Hokkaido University, Sapporo, Japan

会议类型: 国际会议

会议名称: 2011 3nd International Conference on Mechanical and Electronics Engineering(2011年第三届机械与电子工程国际会议 ICMEE2011)

会议地点: 合肥

会议语种:英文

页码: 2433-2437

在线出版日期: 2011-09-23（万方平台首次上网日期，不代表论文的发表时间）