基于神经滑模的柔性连杆机械手末端位置控制 - 机器人.pdf

30 5 ROBOT Vol.30, No.5 2008 9 Sep., 2008 1002-0446(2008)-05-0404-06 1 2 1 1. 100084 2. 100044 /// / TP24 A Neuro-Sliding Mode Endpoint Control of Flexible-link Manipulators ZHANG Yu 1YANG Tang-wen 2 SUN Zeng-qi 1 (1. State Key Laboratory of Intelligent Technology and Systems, Tsinghua National Laboratory for Information Science and Technology, Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China; 2. School of Computer and Information Technology, Beijing Jiaotong University, Beijing 100044, China) Abstract: To improve the robustness and position precision of endpoint control of flexible-link manipulators (FLMs), a control strategy based on neuro-sliding mode (NSM) is proposed. Firstly, the dynamics model is partially linearized by input-output linearization method, so it is separated into two subsystems of input-output subsystem and internal dynamics subsystem. An NSM controller is designed to control the input-output subsystem while a states feedback controller is employed to stabilize the internal dynamics subsystem. Then, stability of the internal dynamics is analyzed, and satisfactory results are obtained in the simulation of controlling a 2DOF FLM. The results indicate that the presented method improves the robustness and position precision of the FLM system when model uncertainty is considered. Keywords: flexible-link manipulator (FLM); neuro-sliding mode control; partial input-output linearization 1 Introduction