物理约束条件下柔性机械臂的自适应协同边界控制

Flexible manipulators have been widely used in space due to the merits of light weight, fast response, low power consumption, etc. However, the unknown external disturbance will lead to the deformation or vibration of the flexible manipulator, and result in an offset from the target position. Excessive vibration will degrade the system's performance, and even lead to the limited life-span of the flexible manipulator. Therefore, the control of flexible manipulators is well motivated to improve the performance of the system. In this project, the modelling and control problems for flexible manipulators are investigated. Firstly, boundary control laws are designed to suppress the vibration of the flexible manipulator and drive the manipulator to the desired set-point subject to uncertain plant dynamics, input nonlinearities and output constraints. Secondly, an adaptive boundary control law is developed for multi-link flexible manipulators based on complex PDE dynamic models with uncertain system parameters. Lastly, a boundary cooperative control based on a dynamic model subject to physical constraints is proposed for a grasping task by means of two one-link flexible arms. Lyapunov's direct method is adopted to analyze the stability of the closed-loop systems. Simulations are provided to illustrate the effectiveness of control methods. The theoretical results of this project will provide a new design idea for the research of flexible manipulators in the engineering.

柔性机械臂由于质量轻、响应快、功耗低等优点，被广泛的应用在航空航天等领域。然而由于自身的柔性特性以及外部扰动的影响，柔性机械臂在运动过程中会产生弹性形变和弹性振动，并导致柔性机械臂端点轨迹偏差，进而影响系统的工作性能甚至降低其使用寿命。因此，设计有效的控制方法抑制其振动对于研究柔性机械臂具有重要意义。本项目以柔性机械臂作为研究对象，分析其动力学特性。首先，针对单连杆柔性机械臂在带有未知动力学信息、输入非线性、输出约束等情况下提出边界控制策略抑制机械臂振动并达到机械臂末端位置精确控制的目的。然后，针对带有参数不确定的多连杆柔性机械臂系统，设计基于复杂PDE模型的自适应边界控制算法。最后，针对两个机械臂抓取任务，在物理约束条件下，设计一种协同边界控制算法。本项目将采用李亚普诺夫方法分析闭环系统稳定性，并通过仿真和实验验证控制算法的有效性，为实际工程中柔性机械臂的研究提供新的理论。

柔性机械臂由于质量轻、响应快、功耗低等优点，被广泛的应用在航空航天等领域。本项目以柔性机械臂作为研究对象，分析其动力学特性。针对带有未知动力学信息、输入非线性、输出约束单连杆柔性机械臂，设计边界控制策略以保证抑制机械臂振动以及实现机械臂末端位置精确控制。针对带有参数不确定的多连杆柔性机械臂系统，设计基于复杂PDE模型的自适应边界控制算法。针对两个机械臂抓取任务，设计一种协同边界控制算法。本项目采用李亚普诺夫方法分析闭环系统稳定性，并通过仿真和实验验证控制算法的有效性，为实际工程中柔性机械臂的研究提供新的理论。经过本项目的资助，申请人在国内外知名杂志上发表标注本项目基金号的SCI论文24篇（第一作者10篇）。此外，申请人还发表标注本项目基金号的EI期刊论文1篇以及申请与本项目相关的专利1项。