| 基于特征建模的连续体机械臂自适应鲁棒控制技术研究 |
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| 引用本文：韩锐1,隆晨海2,马国梁1,杨淼2, 李金亮2,郭健1.基于特征建模的连续体机械臂自适应鲁棒控制技术研究[J].计算技术与自动化,2023,(3):1-4 |
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| 中文摘要:针对连续体机械臂动力学建模困难，控制难度大的问题，使用特征建模的方法，用简化等价的特征模型设计了自适应鲁棒控制器。首先，通过对机械臂系统进行分析，使用特征建模得到等价的动力学模型，然后采用递推最小二乘法进行参数辨识，得到该特征模型的特征参数，最后，利用模型与辨识得到的参数设计了一种结合滑模控制的自适应控制器。通过仿真实验对本文方法与传统PID方法进行对比，仿真结果表明，本文的方法对于末端角度控制的跟踪精度高，同时对于末端扰动有着良好的自适应能力和鲁棒性。 |
| 中文关键词:连续体机械臂 线驱动 特征模型 滑模控制 自适应控制 |
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| Adaptive Robust Control Based on Characteristic Model for a Continuum Manipulator |
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| Abstract:To solve the difficulty of dynamic modeling and control of a continuum manipulator, an adaptive robust controller is designed using a simplified and equivalent model by using the method of characteristic modeling. Firstly, through the analysis of the arm system, the equivalent dynamic model is obtained by using the characteristic modeling. Then, the characteristic parameters of the model are obtained by using the recursive least squares method. Finally, an adaptive controller with sliding mode control is designed by using the model and the identified parameters. This method is compared with traditional PID method by simulation experiments. The simulation results show that this method has high tracking accuracy for angle control, and good adaptive ability and robustness for end disturbance. |
| keywords:continuum manipulator cable driven characteristic model sliding mode control adaptive control |
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