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随机激励下单杆柔性关节机械臂的建模与控制
31 8 Vol. 31 No. 8
2014 8 Control Theory Applications Aug. 2014
DOI: 10.7641/CTA.2014.31189
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Modeling and control for single-link flexible-joint arm
with random disturbances
LIU Zhen-guo, WU Yu-qiang
(1. School of Automation, Southeast University, Nanjing Jiangsu 210096, China;
2. Institute of Automation, Qufu Normal University, Qufu Shandong 273165, China)
Abstract: Mechanical systems such as mobile robots, manipulators are usually vulnerable to the random noises in the
movement process. For the mathematical modeling and control problems of single link flexible joint arm under random
disturbances, there is no related research achievement up to now. For these systems, we adequately introduce some random
noises to build a stochastic dynamic model with uncertain parameters. Then, by using the coordinate transformation,
we transform this model to a fourth-order nonlinear system. On this basis, we employ the adaptive control theory, the
dynamic surface method and Lyapunov method to build up a new controller. This controller effectively avoids the over-
parameterization and the explosion of complexity in routine controllers, and ensures the mean-square value of the tracking
error to be arbitrarily small and all the signals in the closed-loop system to be bounded in probability. Finally, an example
in the simulation is given to show the effectiveness of the presented theory.
Key words: adaptive systems; flexible joint arm; random disturbances; position
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