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浙江大学学报(工学版)
J4  2010, Vol. 44 Issue (7): 1394-1399    DOI: 10.3785/j.issn.1008-973X.2010.07.029
自动化技术     
机械臂协调操作柔性负载鲁棒神经网络控制
唐志国1,2, 李元春2, 刘木林1,2
1.吉林大学 汽车动态模拟国家重点实验室,吉林 长春 130022；2.吉林大学 通信工程学院,吉林 长春 130022
Robust neural network control of dual-manipulator cooperative
system handling flexible payload
TANG Zhi-guo1,2, LI Yuan-chun2, LIU Mu-lin1,2
1.State Key Laboratory of Automobile Dynamic Simulation, Jilin University, Changchun 130022, China;
2. College of Communication Engineering, Jilin University, Changchun 130022, China
 全文: PDF 
摘要：

针对多变量刚柔耦合的双机械臂协调操作柔性负载系统,基于奇异摄动理论研究该系统有限元模型的分解以及轨迹跟踪控制问题.考虑动力学模型的复杂性,通过双时标变换将协调系统分解成表征系统大范围刚性运动的慢变子系统和表征系统弹性振动的快变子系统.基于反演思想在慢变子系统中设计鲁棒神经网络控制策略,实现系统轨迹跟踪性能；针对快变子系统,设计鲁棒最优控制策略抑制系统的弹性振动.仿真研究结果表明,该控制策略增强了系统的跟踪性能和鲁棒性.
关键词： 奇异摄动;  反演控制;  柔性负载;  神经网络;  机械臂    
Abstract:

Aimed at the multivariable rigidflexible coupling system of dualmanipulator cooperative system handling a flexible payload, the decomposition and the trajectory tracking control of finite element modeling for the system were conducted based on the singular perturbation theory. Considering the complexity of dynamic model, the model was divided into two subsystems which included a slow subsystem describing the large rigid motion and a fast subsystem expressing the elastic vibration by the dualtime scale transform. A robust neural network controller was designed based on the idea of backstepping in the slow subsystem in order to complete the system trajectory tracking performance. For the fast subsystem, a robust optimal controller was presented to suppress the elastic vibration of the system. Simulation results show that the controller can strengthen the tracing ability and the robustness of the system.
Key words: singular perturbation    backstepping control    flexible payload    neural network    manipulator
出版日期: 2010-07-22
:  TP 273  
基金资助:

国家自然科学基金资助项目(60974010,60674091).
通讯作者: 李元春,男,教授,博导.     E-mail: yuanchun@jlu.edu.cn
作者简介: 唐志国(1984—),男,黑龙江哈尔滨人,博士生,从事机械臂协调控制的研究.E-mail:tangning20020321@yahoo.cn
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引用本文:

唐志国, 李元春, 刘木林. 机械臂协调操作柔性负载鲁棒神经网络控制[J]. J4, 2010, 44(7): 1394-1399.

TANG Zhi-Guo, LI Yuan-Chun, LIU Mu-Lin. Robust neural network control of dual-manipulator cooperative
system handling flexible payload. J4, 2010, 44(7): 1394-1399.

链接本文:

http://www.zjujournals.com/xueshu/eng/CN/10.3785/j.issn.1008-973X.2010.07.029    或    http://www.zjujournals.com/xueshu/eng/CN/Y2010/V44/I7/1394

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