A New Sliding Mode Control of Manipulator Handling a Flexible Payload Based on Distributed Parameter System

摘要：

In this paper, modeling and control of manipulator handling a flexible payload is considered under the parameter uncertainty and the unknown disturbance. A new sliding mode controller is proposed for manipulator handling a flexible payload based on a distributed-parameter dynamic model and hence is free from the so-called spillover instability, then extended to an adaptive scheme to cope with the upper bounds of the uncertainties were unknown. The controllers are designed to realize system trajectory tracking performance and suppress the elastic vibration. The sliding surface is designed as coupling the joint angle and angular velocity of link, as well as root strain and shear force of flexible payload. Stability of the system is proved by using Lyapunov theory. Numerical simulations result provided to verify the effectiveness of the approach presented.

关键词： Coupled sliding surface Distributed parameter model Trajectory tracking Flexible payload

作者: LIU Shuyang LIU Keping LI Yuanchun

作者单位: State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022 Department of Control Engineering, Changchun University of Technology, Changchun 130012 State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022 Depart

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 3212-3217

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）