Wei Yunxia, Zhang Yuanfei, Hang Bin
Wuxi Vocational College of Science and Technology, Jiangsu, Wuxi 214028, China.
MEMSIC Semiconductor (Wuxi) Co., Ltd.
Math Biosci Eng. 2023 Jun 29;20(8):14327-14352. doi: 10.3934/mbe.2023641.
With the rapid development of smart campus, this paper studies the attitude tracking control of flexible manipulator (FM) in colleges and universities under elastic vibration and external disturbances. First, different from the traditional modeling based on ordinary differential equations (ODEs), the partial differential equations (PDEs) dynamic model of a manipulator system is established based on the Hamilton principle (HP). Second, the boundary control condition of the end system of the manipulator is introduced to adjust the vibration of the manipulator. Furthermore, a Proportional-Derivative (PD) boundary control (PDBC) strategy is proposed by the Lyapunov function to suppress the vibration of the manipulator. Finally, a numerical comparison simulation based on MATLAB/SIMULINK further verifies the robustness and anti-disturbance performance of the control method proposed in this paper.
随着智能校园的快速发展，本文研究了高校中柔性机械手（FM）在弹性振动和外部干扰下的姿态跟踪控制。首先，与基于常微分方程（ODEs）的传统建模不同，基于哈密顿原理（HP）建立了机械手系统的偏微分方程（PDEs）动态模型。其次，引入机械手末端系统的边界控制条件来调节机械手的振动。此外，通过李雅普诺夫函数提出了比例-微分（PD）边界控制（PDBC）策略来抑制机械手的振动。最后，基于MATLAB/SIMULINK进行的数值对比仿真进一步验证了本文所提控制方法的鲁棒性和抗干扰性能。
