An Energy-Based Adaptive Control Design Technique for Multibody-Mechanisms With Flexible Links

Alberto Trevisani; Maria Elena Valcher

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An Energy-Based Adaptive Control Design Technique for Multibody-Mechanisms With Flexible Links

机译：具有柔性链接的多体机构基于能量的自适应控制设计技术

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摘要

In this article, an adaptive control design technique for multibody mechanisms is proposed and described in detail for the case of a planar four-bar flexible-link mechanism. The controller is obtained by superposing a PD position controller, an adaptive proportional vibration controller, and, when the effects of gravity cannot be neglected, an additional term that compensates the (equivalent) gravity torque. The controlled system simple stability is formally proved by means of a model-independent energy-based approach, whereas asymptotic stability is discussed only for the case when no gravity effect needs to be accounted for. The controller performances are tested in simulation in both cases.

机译：在本文中，针对平面四杆柔性连杆机构的情况，提出并详细描述了多体机构的自适应控制设计技术。该控制器是通过叠加PD位置控制器，自适应比例振动控制器以及在不能忽略重力影响的情况下获得补偿（等效）重力转矩的附加项而获得的。通过基于模型的基于能量的方法正式证明了受控系统的简单稳定性，而渐进稳定性仅在不需要考虑重力效应的情况下讨论。在这两种情况下，都通过仿真测试了控制器的性能。

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《IEEE / ASME Transactions on Mechatronics》 |2005年第5期|p.571-580|共10页
作者
Alberto Trevisani; Maria Elena Valcher;
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原文格式 PDF
正文语种 eng
中图分类机械设计、计算与制图;无线电电子学、电信技术;
关键词
Adaptive control; Asymptotic stability; Energy-based approach; Flexible-link mechanism;

机译：自适应控制渐近稳定性基于能量的方法柔性连杆机构;

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专利

1. Nonlinear output feedback control of a flexible link using adaptive neural network: Controller design [J] . Kuo P., Hosein A., Farmanborda M.S. Journal of vibration and control: JVC . 2013,第11期

机译：自适应神经网络对柔性链的非线性输出反馈控制：控制器设计
2. Design of Dynamic Nonlinear Control Techniques for Flexible-Link Manipulators [J] . V. Gavriloiu, V. Yurkevich, K. Khorasani Diffusion and Defect Data. Solid State Data, Part B. Solid State Phenomena . 2009,第Null期

机译：柔性连杆机械臂的动态非线性控制技术设计
3. Load adaptive control of single-link flexible arms based on a new modeling technique [J] . Feliu J.J., Feliu V. IEEE Transactions on Robotics and Automation . 1999,第5期

机译：基于新建模技术的单连杆柔性臂负荷自适应控制
4. Adaptive energy-based controllers for a two link flexible manipulator under gravity [C] . Hosseini Sanaz, Fallah Ali, Nazari Mahtab International Conference on Control, Automation and Systems . 2008

机译：基于自适应的能量基控制器，用于两连杆柔性机械手在重力下
5. Design of dynamic nonlinear control techniques for flexible-link manipulators. [D] . Gavriloiu, Victor. 2005

机译：柔性连杆机械手的动态非线性控制技术设计。
6. Preventing recurrence of endometriosis by means of long-acting progestogen therapy (PRE-EMPT): report of an internal pilot multi-arm randomised controlled trial incorporating flexible entry design and adaption of design based on feasibility of recruitment [O] . Lee J. Middleton, Jane P. Daniels, Annalise Weckesser, 2017

机译：通过长效孕激素治疗（PRE-EMPT）预防子宫内膜异位症的复发：一项内部试验多组随机对照试验的报告该试验结合了灵活的进入设计和基于募集可行性的设计适应性
7. Design of Dynamic Nonlinear Control Techniques for Flexible-Link Manipulators [O] . V. Gavriloiu, V. Yurkevich, K. Khorasani 2015

机译：柔性连杆机器人动态非线性控制技术设计
8. Techniques for controlling a two-link flexible arm. [R] . Feddema, J. T., Eisler, G. R., Segalman, D. J., 1990

机译：用于控制双连杆柔性臂的技术。

An Energy-Based Adaptive Control Design Technique for Multibody-Mechanisms With Flexible Links

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