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基于奇异摄动方法,在将参数不确定双臂柔性机械手分解为慢变和快变两个子系统基础上,提出一种复合控制方法,以实现关节轨迹跟踪控制,抑制弹性振动。针对慢变子系统,提出一种模糊非奇异终端滑模控制方法,保证系统的全局稳定性,提高系统的跟踪速度和精度,同时消除滑模控制的抖振现象。针对快变子系统,提出一种基于观测器的LQR控制方法,估计系统不可测状态,压制柔性振动。仿真结果证明所提方法的有效性。
Based on the singular perturbation method, a composite control method is proposed based on decomposing the two arms flexible manipulators with uncertain parameters into slow and fast subsystems to realize joint trajectory tracking control and restrain elastic vibration. Aiming at the slow sub-system, a fuzzy non-singular terminal sliding mode control method is proposed to ensure the global stability of the system and improve the tracking speed and precision of the system. At the same time, the chattering of sliding mode control is eliminated. Aiming at the fast subsystem, an observer-based LQR control method is proposed to estimate the unmeasured state of the system and suppress the flexible vibration. Simulation results show the effectiveness of the proposed method.