| Author Name | Affiliation | | Yanfang Liu | State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
Department of Aerospace Engineering, Harbin Institute of Technology, Harbin 150001, China | | Hong Liu | State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China | | Yao Meng | Aerospace System Engineering Shanghai, Shanghai 201109, China |
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| Abstract: |
| The control problem of multiple-flexible-link manipulators (MFLMs) is studied in this paper.The dynamic model of MFLM is derived and separated into two-time scale by utilizing the singular perturbation technique. The active disturbance rejection control (ADRC) is adopted to the slow subsystem to track a desired trajectory. The proposed ADRC structure preshapes the desired trajectory by utilizing the tracking differentiator, estimates the disturbance and internal states with an extended state observer, and guarantees a robust performance by combining a feedback controller with a feedforward term.Two types of feedback controllers are designed, proportional derivative (PD) controller and nonlinear PD (NPD) controller. For the fast subsystem, a fast stabilizing control is designed according to the standard linear quadratic regulator approach. Simulations are performed to evaluate the proposed control scheme.Results show that, compared with the traditional PD controller, the ADRC structure based control scheme has smaller overshot and shorter settling time, suppresses vibration quickly, and is robust to the maneuver speed. In general, the control scheme utilizing ADRC structure and NPD feedback controller shows better performance. |
| Key words: multiple flexible link manipulator (MFLM) active disturbance rejection control (ADRC) nonlinear proportional plus derivative (NPD) tracking differentiator (TD) extended state observer (ESO) |
| DOI：10.11916/j.issn.1005-9113.16113 |
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| Descriptions in Chinese: |
| 多柔性连杆机械臂的自抗扰控制 刘延芳1,2, 刘宏1,孟瑶3 （1. 哈尔滨工业大学 机器人技术与系统国家重点实验室，哈尔滨 150001； 2.哈尔滨工业大学 航天学院，哈尔滨 150001； 3.上海宇航系统工程研究所，上海 201109） 创新点说明将自抗扰控制应用到多柔性连杆机械臂的运动控制上。 研究目的 主要解决多柔性连杆机械臂的运动控制问题，在转角运动控制的同时，抑制柔性臂杆的振动。 研究方法 首先基于时标分离，将系统分解为快时标系统和慢时标系统：快时标系统为内环，采用最优二次型控制器，实现臂杆振动的快速抑制；慢时标系统为外环，采用自抗扰控制，抑制系统外界干扰、未建模动态等内外扰动，实现转角位置的精确控制。 结 果 采用自抗扰控制器可以显著提高转角控制精度，并抑制臂杆的振动，其中自抗扰控制器中采用飞线性PD控制器时，优势更为明显。 结 论 自抗扰控制器在应用于多柔性连杆机械臂的运动控制中具有一定的优势，可以进行工程推广。 关键词：多柔性连杆机械臂；自抗扰控制；飞线性比例微分控制器；跟踪微分器；状态扩张观测器 |
