摘要
用线性化模型的最优状态反馈方法构造参考模型,用Lyapunov 稳定性理论推导了模型状态跟踪的自适应控制率,用LQR方法推导末端位置调节控制率.用模型状态跟踪和末端位置跟踪两级跟踪实现了一种单连杆柔性机械臂末端位置的自适应控制.仿真结果表明,该方法渐进稳定,定位准确.
The optimal state feedback control of linearization model is used to construct the reference model. The Lyapunov stability theory is used to deduce the tracking control rules. The LQR control method is used to deduce the end position control law. Both the state following control and the end position following control are used to realize a type of self adaptive control of a single link flexible manipulator arm.
出处
《郑州大学学报（自然科学版）》
CAS
1999年第4期56-61,共6页
Journal of Zhengzhou University (Natural Science)
关键词
柔性机械臂
模型参考
自适应控制
末端位置
flexible manipulator arms
optimal state
model reference adaptive control
