二自由度串联柔性臂复合抗干扰控制

doi:10.13229/j.cnki.jdxbgxb.20250018

摘要/Abstract

摘要：

针对二自由度柔性机械臂在实际应用中内部参数摄动和外界扰动影响柔性机械臂的轨迹跟踪精度提高和连杆抖振抑制，提出了一种基于奇异摄动理论的复合控制策略。首先，根据假设模态法和Hamiltion原理建立了二自由度串联柔性机械臂的动力学模型，进而基于奇异摄动理论将其分解为慢速子系统和快速子系统。然后，针对慢速子系统，基于反馈线性化技术设计了增量非线性动态逆控制策略，用于机械臂的轨迹跟踪控制；对于快速子系统，通过误差符号的积分和非线性反馈设计误差符号鲁棒积分控制策略，用于机械臂连杆抖振抑制；利用李雅普诺夫稳定性理论证明了闭环系统的稳定性。仿真结果表明，本文所提出的复合控制策略在轨迹跟踪控制和抗干扰性能方面具有明显的优势。

关键词: 控制工程, 二自由度串联柔性机械臂, 奇异摄动, 增量非线性动态逆, 误差符号鲁棒积分, 抗干扰控制

Abstract:

To address the challenges of internal parameter perturbations and external disturbances in improving trajectory tracking accuracy and suppressing link vibrations for the two-degree-of-freedom serial flexible manipulator in practical implementations， a singular perturbation theory-based composite control strategy is proposed. Firstly， the dynamic model of the two-degree-of-freedom serial flexible manipulator was established using the assumed modes method and Hamilton's principle. Subsequently， based on singular perturbation theory， the system was decomposed into slow and fast subsystems. Then， for the slow subsystem， an incremental nonlinear dynamic inversion control strategy was designed using feedback linearization techniques， aimed at trajectory tracking control of the manipulator. For the fast subsystem， an error sign robust integral control strategy was developed through the integration of error signs and nonlinear feedback， intended for suppressing link chattering of the manipulator. The stability of the closed-loop system was proven using Lyapunov stability theory. Simulation results demonstrate that the proposed composite control strategy exhibits significant advantages in trajectory tracking control and disturbance rejection performance.

Key words: control engineering, two-degree-of-freedom serial flexible manipulator, singular perturbation, incremental nonlinear dynamic inversion, robust integral of the sign of the error, control of disturbance-rejection

中图分类号:

TP273

韩光信,刘瑶瑶,史玉松,胡云峰. 二自由度串联柔性臂复合抗干扰控制[J]. 吉林大学学报(工学版), 2026, 56(8): 2229-2239.

Guang-xin HAN,Yao-yao LIU,Yu-song SHI,Yun-feng HU. Composite control of disturbance-rejection for two-degree-of-freedom serial flexible manipulator[J]. Journal of Jilin University(Engineering and Technology Edition), 2026, 56(8): 2229-2239.

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