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首页> 外文期刊>IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics >Experimental results on discrete-time nonlinear adaptive trackingcontrol of a flexible-link manipulator
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Experimental results on discrete-time nonlinear adaptive trackingcontrol of a flexible-link manipulator

机译：柔性连杆机械臂的离散时间非线性自适应跟踪控制的实验结果

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摘要

The aim of this paper is to develop and implement a nonlinearnadaptive control scheme for a single-link flexible manipulator. Thencontroller is designed based on a discrete-time nonlinear model of thenarm. The model is derived by using the forward difference method (Eulernapproximation). The output redefinition concept is then used so that thenassociated zero dynamics corresponding to the new output is guaranteednto be exponentially stable. An indirect adaptive linearizing controllernis developed for the resulting minimum phase system where then“payload mass” is assumed to be unknown but its upper boundnis assumed to be known a priori. The performance of the adaptivelyncontrolled closed-loop system is investigated by both numericalnsimulations and experimental results. The proposed controller is alsoncompared experimentally with those of nonadaptive feedback linearizationnand conventional proportional derivative (PD) control strategies
机译：本文的目的是开发和实现单连杆柔性机械臂的非线性自适应控制方案。然后，基于控制器的离散时间非线性模型设计控制器。该模型是通过使用前向差分法（Eulernapproximation）导出的。然后使用输出重新定义概念，以便保证与新输出相对应的关联零动力学特性呈指数稳定。为最终的最小相位系统开发了一种间接自适应线性化控制器，其中“有效载荷质量”被认为是未知的，但其上界被认为是先验的。通过数值模拟和实验结果研究了自适应控制的闭环系统的性能。所提出的控制器也与非自适应反馈线性化的控制器和常规比例微分（PD）控制策略进行了实验比较

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