关键词: 自动控制技术, 奇异摄动, 双连杆, 柔性臂, 自适应控制, 模糊控制, 滑模控制, 最优控制

Abstract: To track expectation locus accurately as the load and link length of twolink flexible manipulator varies, the control system was decomposed into two subsystems, slowlychanging subsystem and fastchanging subsystem based on the singular perturbation model. A hybrid control method, consisting of adaptive sliding mode control which was applied to slowlychanging subsystem and optimal control which was applied to fastchanging subsystem, was presented. The adaptive algorithm can estimate unknown parameters online, and fuzzy control can damp the vibration caused by sliding mode control. Simulation result shows that the proposed method not only can accurately and fast track the flexible manipulator locus, but also can effectively damp the elastic vibration, and is strongly robust to the variation of system parameters. The characteristic of the proposed method is that each equivalent vibration parameters can be adaptively estimated and compensated respectively, so it is simple and easy to implement.

Key words: automatic control technology, singular perturbation, twolink, flexible manipulator, adaptive control, fuzzy control, sliding mode control, optimal control