空间柔性机械臂控制策略研究
|
摘要
随着21世纪航天事业的迅速发展和对太空探索的不断深入,未来空间任务越来越多,如空间站的建造维护、空间设备的维修、科学实验等,目前尚不能全靠宇航员来完成,由于空间机械臂具有适应太空作业环境的能力,利用空间机械臂完成一些太空作业任务具有重要的意义,已经成为空间技术研究领域内的一个重要的研究方向。本论文的研究内容来源于教育部科学技术研究重大项目“空间柔性机器人动力学/控制耦合系统的研究”,本论文以此为依托,重点对大型空间柔性机械臂动力学建模理论和控制策略进行了深入的分析和研究,本文的主要工作如下:
首先,设计了一种大型的空间六自由度机械臂,提出了需要完成的指标性的作业任务,在对空间机械臂进行精度分析的基础上,针对具体的作业任务对机械臂进行精度分配;建立由柔性臂杆和柔性关节构成的空间多自由度柔性机械臂动力学模型,并验证动力学模型的有效性;建立空间机械臂的地面气浮模拟试验平台,针对地面气浮模拟平台上空间机械臂的构型特点,建立了平面两连杆柔性机械臂动力学模型,分析机械臂的弹性-阻尼约束边界条件,验证柔性机械臂在此约束条件下的动力学特性。
其次,通过对机械臂关节的非线性特性进行分析,建立了考虑关节非线性特性的柔性关节动力学模型;为克服柔性关节非线性因素的影响,提出双位置闭环伺服控制,输出反馈抗饱和的高精度PID控制和基于LuGre摩擦模型的自适应补偿控制策略;通过机械臂单关节测试平台上的试验表明:所提出的控制策略不仅有效的提高了非线性影响下的位置控制精度和稳定性,并且可实现饱和非线性影响下空间机械臂系统的全局渐进稳定。
再次,建立不确定性影响下的柔性关节机械臂级联动力学方程,基于反演设计的思想,设计虚拟控制量实现了级联方程的递阶控制,在反演镇定函数中综合积分项,进一步消除轨迹跟踪稳态误差,并且设计自适应滑模控制器消除不确定因素影响,基于Lyapunov理论证明了整个系统的稳定性和对误差的收敛性;为避免由于虚拟控制反复求导而导致的计算复杂度问题,将动态滑模面控制与自适应神经网络相结合,提出了空间柔性关节机械臂的自适应神经网络动态滑模面控制策略,并进行控制策略的稳定性分析、仿真研究和试验验证研究。
再其次,以具有柔性关节和柔性臂杆的空间柔性机械臂为研究对象,针对空间柔性机械臂的定位控制任务,通过输入输出线性化将非线性柔性机械臂动力学方程简化为近似线性系统,采用具有输出反馈的自学习输入成形控制策略进行定位控制时的振动抑制;针对轨迹控制任务,基于奇异摄动方法将空间柔性机械臂简化为快慢两个独立的子系统,采用复合控制策略实现精确轨迹跟踪的同时实现有效的振动抑制;在空间机械臂地面气浮模拟试验平台上的试验表明:提出的控制策略不仅可保证高精度的定位控制精度,而且可有效的抑制弹性振动,满足空间柔性机械臂的指标要求。
最后,针对空间机械臂的点位控制和轨迹跟踪作业任务,在六自由度空间柔性机械臂实验平台上进行试验研究,对提出的作业任务指标进行验证。
In the 21st century, with the rapid development of aerospace industry and the deepening of space exploration, more and more future space missions, such as the construction of the space station, space equipment maintenance, and other scientific experiments need to be finished, but it is still hard to be completed all by astronaut. Space manipulator has the capability of adapting space environment, so it is significant to complete some tasks using space manipulator, and it has become an important research direction in space technology field. This paper come from the Ministry of Research Science and Technology major projects "space flexible robot dynamics/control coupling system research", Based on this project, this paper mainly focus on the large flexible space manipulator dynamics modeling theory and control strategy research, the paper's main work are as follows:
Firstly, a six freedom, large space manipulator is designed, and raises the needed tasks target, distributes the accuracy of flexible manipulator aimed at the specific task target on the basis of the space flexible manipulator accuracy analysis; The dynamics modeling is build on the flexible links and flexible joints manipulator, and verify the effect of dynamic model; An air space simulation test table on the ground is build and aimed at the configuration features of space manipulator on test table, a simplified flat two-link manipulator is set up; The flexibility-damping boundary conditions of flexible manipulator is analyzed, and the dynamic characteristics are researched under this restrictive conditions.
Secondly, the manipulator joint nonlinearities are analyzed, and the nonlinear dynamics model of flexible joints is set up; To overcome the influences of such nonlinear factors, a kind of two-position closed-loop servo control system, an anti-saturation output feedback high-precision PID control and the adaptive friction compensation strategy based on LuGre friction model are proposed; Experiment on the designed manipulator single joint test table verify that the control strategy not only improved the nonlinear position control precision and stability, but also the global stability of space manipulator system can be realized under the influence of saturation, and control algorithms structure is simple, control parameter setting rules are clear.
Thirdly, flexible-joint manipulator cascade dynamic equation is established under the influence of uncertainty; Based on the backstepping methods, a virtual control variable is designed to achieve cascade equation's control, an integration function is synthesized to elimination of tracking steady-state errors furthermore, and the adaptive sliding controller is designed to eliminate the influence of uncertainties, and improve the whole system's stability and the convergence to errors by Lyapunov theory; In order to avoid the complexity for the repeated derivation of virtual control, combine the dynamic sliding-control and Neural networks, a space flexible-joint manipulator adaptive dynamic sliding-control strategy is proposed. Then, the stability analysis, simulation and test verification are finished.
Fourthly, aimed at the flexible-joints and flexible-link space manipulator, for the positioning control of flexible manipulator, simplify the nonlinear dynamics of flexible manipulator through the input and output linearization, a recursive learning the output feedback control strategy is proposed for the vibration suppression in position control; In the trajectory control tasks, flexible space manipulator will be simplified to two separate subsystems based on the singular perturbation method, and then using composite control strategy to achieve precision tracking and achieve effective vibration suppression at the same time, and simulation research are studied; Finally, verify the control strategy in the space manipulator ground simulation test table.
Finally, aimed at the set-point control and tracking control tasks of space manipulator, the indicators task targets are verified on the six freedom flexible space manipulator experiment platform.
首先,设计了一种大型的空间六自由度机械臂,提出了需要完成的指标性的作业任务,在对空间机械臂进行精度分析的基础上,针对具体的作业任务对机械臂进行精度分配;建立由柔性臂杆和柔性关节构成的空间多自由度柔性机械臂动力学模型,并验证动力学模型的有效性;建立空间机械臂的地面气浮模拟试验平台,针对地面气浮模拟平台上空间机械臂的构型特点,建立了平面两连杆柔性机械臂动力学模型,分析机械臂的弹性-阻尼约束边界条件,验证柔性机械臂在此约束条件下的动力学特性。
其次,通过对机械臂关节的非线性特性进行分析,建立了考虑关节非线性特性的柔性关节动力学模型;为克服柔性关节非线性因素的影响,提出双位置闭环伺服控制,输出反馈抗饱和的高精度PID控制和基于LuGre摩擦模型的自适应补偿控制策略;通过机械臂单关节测试平台上的试验表明:所提出的控制策略不仅有效的提高了非线性影响下的位置控制精度和稳定性,并且可实现饱和非线性影响下空间机械臂系统的全局渐进稳定。
再次,建立不确定性影响下的柔性关节机械臂级联动力学方程,基于反演设计的思想,设计虚拟控制量实现了级联方程的递阶控制,在反演镇定函数中综合积分项,进一步消除轨迹跟踪稳态误差,并且设计自适应滑模控制器消除不确定因素影响,基于Lyapunov理论证明了整个系统的稳定性和对误差的收敛性;为避免由于虚拟控制反复求导而导致的计算复杂度问题,将动态滑模面控制与自适应神经网络相结合,提出了空间柔性关节机械臂的自适应神经网络动态滑模面控制策略,并进行控制策略的稳定性分析、仿真研究和试验验证研究。
再其次,以具有柔性关节和柔性臂杆的空间柔性机械臂为研究对象,针对空间柔性机械臂的定位控制任务,通过输入输出线性化将非线性柔性机械臂动力学方程简化为近似线性系统,采用具有输出反馈的自学习输入成形控制策略进行定位控制时的振动抑制;针对轨迹控制任务,基于奇异摄动方法将空间柔性机械臂简化为快慢两个独立的子系统,采用复合控制策略实现精确轨迹跟踪的同时实现有效的振动抑制;在空间机械臂地面气浮模拟试验平台上的试验表明:提出的控制策略不仅可保证高精度的定位控制精度,而且可有效的抑制弹性振动,满足空间柔性机械臂的指标要求。
最后,针对空间机械臂的点位控制和轨迹跟踪作业任务,在六自由度空间柔性机械臂实验平台上进行试验研究,对提出的作业任务指标进行验证。
In the 21st century, with the rapid development of aerospace industry and the deepening of space exploration, more and more future space missions, such as the construction of the space station, space equipment maintenance, and other scientific experiments need to be finished, but it is still hard to be completed all by astronaut. Space manipulator has the capability of adapting space environment, so it is significant to complete some tasks using space manipulator, and it has become an important research direction in space technology field. This paper come from the Ministry of Research Science and Technology major projects "space flexible robot dynamics/control coupling system research", Based on this project, this paper mainly focus on the large flexible space manipulator dynamics modeling theory and control strategy research, the paper's main work are as follows:
Firstly, a six freedom, large space manipulator is designed, and raises the needed tasks target, distributes the accuracy of flexible manipulator aimed at the specific task target on the basis of the space flexible manipulator accuracy analysis; The dynamics modeling is build on the flexible links and flexible joints manipulator, and verify the effect of dynamic model; An air space simulation test table on the ground is build and aimed at the configuration features of space manipulator on test table, a simplified flat two-link manipulator is set up; The flexibility-damping boundary conditions of flexible manipulator is analyzed, and the dynamic characteristics are researched under this restrictive conditions.
Secondly, the manipulator joint nonlinearities are analyzed, and the nonlinear dynamics model of flexible joints is set up; To overcome the influences of such nonlinear factors, a kind of two-position closed-loop servo control system, an anti-saturation output feedback high-precision PID control and the adaptive friction compensation strategy based on LuGre friction model are proposed; Experiment on the designed manipulator single joint test table verify that the control strategy not only improved the nonlinear position control precision and stability, but also the global stability of space manipulator system can be realized under the influence of saturation, and control algorithms structure is simple, control parameter setting rules are clear.
Thirdly, flexible-joint manipulator cascade dynamic equation is established under the influence of uncertainty; Based on the backstepping methods, a virtual control variable is designed to achieve cascade equation's control, an integration function is synthesized to elimination of tracking steady-state errors furthermore, and the adaptive sliding controller is designed to eliminate the influence of uncertainties, and improve the whole system's stability and the convergence to errors by Lyapunov theory; In order to avoid the complexity for the repeated derivation of virtual control, combine the dynamic sliding-control and Neural networks, a space flexible-joint manipulator adaptive dynamic sliding-control strategy is proposed. Then, the stability analysis, simulation and test verification are finished.
Fourthly, aimed at the flexible-joints and flexible-link space manipulator, for the positioning control of flexible manipulator, simplify the nonlinear dynamics of flexible manipulator through the input and output linearization, a recursive learning the output feedback control strategy is proposed for the vibration suppression in position control; In the trajectory control tasks, flexible space manipulator will be simplified to two separate subsystems based on the singular perturbation method, and then using composite control strategy to achieve precision tracking and achieve effective vibration suppression at the same time, and simulation research are studied; Finally, verify the control strategy in the space manipulator ground simulation test table.
Finally, aimed at the set-point control and tracking control tasks of space manipulator, the indicators task targets are verified on the six freedom flexible space manipulator experiment platform.
引文
[1]S.C.P.Gomes,V.S.da Rosa,B.C.Albertini,Active control to flexible manipulators,Mechatronics,IEEE/ASME Transactions on,Vol.11,pp.75-83,2006.
[2]邵志宇,孙汉旭,贾庆轩.一种空间机械臂构造模块的研制[J].宇航学报,2007,28(1):147-151.
[3]邱志成,谈大龙.基于加速度反馈的柔性关节机械臂接触力控制[J].机械工程学报,2002,38(10):37-41.
[4]Spong M W.Robot dynamics and control[M].New York:JohnWiley&Sons,1989.
[5]Rodriguez,H.,A.Astolfi,and R.Ortega.On the construction of static stabilizers and static output trackers for dynamically linearizable systems,related results and applications,in Decision and Control,2004.CDC.43rd IEEE Conference on.2004.
[6]彭济根,倪元华,乔红.柔性关节机械手的神经网络控制[J].自动化学报,2007,33(2):175-180.
[7]Ghorbel,F.and M.W.Spong.Adaptive integral manifold control of flexible joint robot manipulators,in Robotics and Automation,IEEE International Conference on.1992 pp.707-714vol.1.
[8]Taghirad,H.D.and M.A.Khosravi.Stability analysis and robust composite controller synthesis for flexible joint robots.Intelligent Robots and System,2002.IEEE/RSJ International Conference on.2002,pp.2073-2078 vol.3.
[9]Huang,A.-C.and Y.-C.Chen,Adaptive sliding control for single-link flexible-joint robot with mismatched uncertainties.IEEE Transactions on Control Systems Technology,2004.12(5):p.770-775.
[10]Woosoon,Y.Adaptive control of a flexible joint manipulator,in Robotics and Automation,2001.Proceedings 2001 ICRA.IEEE International Conference on.2001.
[11]Chien,M.-C.and A.-C.Huang,Adaptive control for flexible-joint electrically driven robot with time-varying uncertainties.IEEE Transactions on Industrial Electronics,2007.54(2):p.1032-1038.
[12]Patel,A.,et al.Robust Control of Flexible Joint Robot Manipulator.in Industrial Technology,2006.ICIT 2006.IEEE International Conference on.2006.
[13]Jong-Guk,Y.,et al.Robust Control using Recursive Design Method for Flexible Joint Robot Manipulator.in Robotics and Automation,2007 IEEE International Conference on.2007.
[14]孙富春,孙增圻,而联结.机械手的神经网络自适应滑动模控制器设计[J],航空学报,1997,18(2):168-172.
[15]Park,C.-W.,Robust stable fuzzy control via fuzzy modeling and feedback linearization with its applications to controlling uncertain single-link flexible joint manipulators.Journal of Intelligent and Robotic Systems:Theory and Applications,2004.39(2):p.131-147.
[16]Macnab,C.J.B.,G.M.T.D'Eleuterio,and M.Meng.CMAC adaptive control of flexible-joint robots using backstepping with tuning functions,in Robotics and Automation,2004.Proceedings.ICRA '04.2004 IEEE International Conference on.2004.
[17]Yansheng,Y.,F.Gang,and R.Junsheng,A combined backstepping and small-gain approach to robust adaptive fuzzy control for strict-feedback nonlinear systems.Systems,Man and Cybernetics,Part A,IEEE Transactions on,2004.34(3):p.406-420.
[18]Sung Jin,Y.,P.Jin Bae,and C.Yoon Ho,Adaptive Dynamic Surface Control of Flexible-Joint Robots Using Self-Recurrent Wavelet Neural Networks.Systems,Man and Cybernetics,Part B,IEEE Transactions on,2006.36(6):p.1342-1355.
[19]Chatlatanagulchai,W.and P.H.Meckl.Intelligent control of a two-link flexible-joint robot,using backstepping,neural networks,and direct method in Intelligent Robots and Systems,2005.2005IEEE/RSJ International Conference on.2005.
[20]Bauchau O A,Rodriguez J.Modeling of joints with clearance in flexible multibody systems.International Journal of Solids and Structures,2002,39(1):41-63.
[21]吴德隆,王毅,文荣.空间站大型伸展机构动力学研究中的若干问题[J].中国空间科学技术,1996,Vol.6.pp29-37.
[22]阎绍泽,陈鹿民,吴德隆等.空间可展机构非线性动力学特性实验研究[J].宇航学报,2002,23(4):1-3.
[23]阎绍泽,申永胜,陈洪彬.考虑杆件柔性和铰间隙的可展结构动力学数值模拟[J].清华大学学报(自然科学版),2003,42(2):145-148.
[24]阎绍泽.航天器中含间隙机构非线性动力学问题及其研究进展[J].动力学与控制学报,2004,2(2):48-52.
[25]马兴瑞,王本利,苟兴宇.航天器动力学-若干问题进展及应用[M].北京:科学出版社,2001.
[26]吴德隆,李海阳,彭伟斌.空间站大型伸展机构的运动稳定性分析[J].宇航学报,2002,23(6):98-102.
[27]Zergeroglu,E.,et al.,Adaptive set-point control of robotic manipulators with amplitude-limited control inputs.Robotica,2000.18(2):p.171-181.
[28]Dixon,W.E.Adaptive regulation of amplitude limited robot manipulators with uncertain kinematics and dynamics.2004.Boston,MA,United States:Institute of Electrical and Electronics Engineers Inc.,Piscataway,NJ 08855-1331,United States
[29]吴风,王景成,方小生等.抗饱和控制的一些新进展[J].化工自动化及仪表,2007,34(2):1-6.
[30]F.J.Lin,P.H.Shen.Adaptive backstepping sliding mode control for linear induction motor drive[J],Electric Power Applications(S1350-2352),IEE Proceedings,2002,149(3):183-193.
[31]Shen.P.H and F.J.Lin.Intelligent backstepping sliding-mode control using RBFN for two-axis motion control system[J],Electric Power Applications(S1350-2352),2002,152(5):1321-1342.
[32]L.Freidovich,A.Robertsson,A.Shiriaev,and R.Johansson,Friction compensation based on LuGre model,Decision and Control,2006 45th IEEE Conference on2006,pp.3837-3842.
[33]T.Dumitriu,M.Culea,T.Munteanu,and E.Ceanga,Friction Compensation for Accurate Positioning in DC Drive Tracking System,Electrical and Electronics Engineering,2006,pp.1-4.
[34]Yaolong,T.,C.Jie,and T.Hualin.Adaptive friction compensation for induction motors with inertia and load uncertainties.2000
[35]Yaolong,T.,C.Jie,and T.Hualin,Adaptive backstepping control and friction compensation for AC servo with inertia and load uncertainties.Industrial Electronics,IEEE Transactions on,2003.50(5):p.944-952.
[36]Jinkun,L.and S.Fuchun.Fuzzy Global Sliding Mode Control for a Servo System with Lugre Friction Model.2006.
[37]Zeng,H.and N.Sepehri.Adaptive backstepping control of hydraulic manipulators with friction compensation using LuGre model.2006.
[38]Korondi,P.,D.Young,and H.Hashimoto.Sliding mode based disturbance compensation for motion control,in Industrial Electronics,Control and Instrumentation,1997.IECON 97.23rd International Conference on.1997.
[39]Ge,S.S.,T.H.Lee,and J.Wang.Adaptive NN control of dynamic systems with unknown dynamic friction.2000.
[40]WANG Yongfu,C.T.,Compensating modeling and control of robot joint friction based on adaptive fuzzy systems.Chinese Journal of Scientific Instrument,2006.27(2):p.186-190.
[41]洪嘉振,尤超蓝.刚柔耦合系统动力学研究进展[J].动力学与控制学报,2004,2(2):1-6.
[42]宋轶民,余跃庆等.柔性机器人动力学分析与振动控制研究综述[J].机械设计,2003,20(4):1-5.
[43]刘明治,刘春霞.柔性机械臂动力学建模和控制研究[J].力学进展,2001,31(1):1-8.
[44]王树国,丁希仑,蔡鹤皋.机器人柔性臂动力学有限元建模方法的研究[J].哈尔滨工业大学学报,1996,29(1):114-116.
[45]邓峰岩,和兴锁,李亮等.计及变形耦合的双连杆柔性机械臂动力学模型[J].机械工程学报,2006,42(增刊):69-73.
[46]Guo,J.,C.-H.Li,and G.-C.Dai,Dynamic simulation of two links flexible manipulator.Yuhang Xuebao/Journal of Astronautics,2006.27(5):p.1044-1049.
[47]Loke,V.L.Y.,et al.Modelling optical micro-machines and birefringent particles.2006.San Diego,CA,United States:International Society for Optical Engineering,Bellingham WA,WA 98227-0010,United States.
[48]Jones,B.A.and I.D.Walker,Practical kinematics for real-time implementation of continuum robots.IEEE Transactions on Robotics,2006.22(6):p.1087-1099.
[49]何勇,袁茹,王三民.结构参数对双柔性臂的动力学性能影响的研究[J].振动与冲击,2007,26(4):90-93.
[50]刘锦阳,洪嘉振.温度场中的柔性梁系统动力学建模[J].振动工程学报,2006,19(4):469-474.
[51]王洪福,曲东升,孙立宁.柔性臂动力学模型中单杆的质量—弹性杆简化模型的讨论[J].机器人,2001,23(7):691-694.
[52]Ho,M.T.and Y.W.Tu,Position control of a single-link flexible manipulator using H/spl infin-based PID control.Control Theory and Applications,IEE Proceedings,2006.153(5):p.615-622.
[53]Jnifene,A.and W.Andrews,Experimental study on active vibration control of a single-link flexible manipulator using tools of fuzzy logic and neural networks.Instrumentation and Measurement,IEEE Transactions on,2005.54(3):p.1200-1208.
[54]Jee-Hwan,R.,K.Dong-Soo,and B.Hannaford,Control of a flexible manipulator with noncollocated feedback:time-domain passivity approach.Robotics,IEEE Transactions on Robotics and Automation,2004.20(4):p.776-780.
[55]Bai,Z.,X.Han,and W.Chen,Study of a 3-DOF parallel manipulator dynamics based on Lagrange equation.Journal of Beijing University of Aeronautics and Astronautics,2004.30(1):p.51-54.
[56]Pendar,H.,M.Vakil,and H.Zohoor.Efficient dynamic equations of 3-RPS parallel mechanism through lagrange method.2004.Singapore:Institute of Electrical and Electronics Engineers Inc.,New York,NY 10016-5997,United States.
[57]Yang,J.,J.Wang,and D.Yu,Modular computation method for inverse kinematics and dynamics of spatial parallel manipulator.Chinese Journal of Mechanical Engineering,2005.41(5):p.104-107.
[58]Pratiher,B.and S.K.Dwivedy,Non-linear dynamics of a flexible single link Cartesian manipulator.International Journal of Non-Linear Mechanics,2007.42(9):p.1062-1073.
[59]You,C.-L.,J.-Z.Hong,and G.-P.Cai,Modeling study of planar flexible manipulator undergoing large deformation.Journal of Shanghai Jiaotong University(Science),2007.12 E(6):p.824-830.
[60]Liu,W.-F.,Z.-B.Gong,and Q.-Q.Wang.Investigation on Kane dynamic equations based on screw theory for open-chain manipulators.Applied Mathematics and Mechanics(English Edition),2005.26(5):p.627-635.
[61]Tanner,H.G.and K.J.Kyriakopoulos.Kane's approach to modeling mobile manipulators.Advanced Robotics,2002.16(1):p.57-85.
[62]董兴建,孟光.压电悬臂梁的动力学建模与主动控制[J].振动与冲击,2006,24(6):54-57.
[63]孙浩,杨志春.基于极点配置参数优化的压电分流阻尼抑振研究[J].西北工业大学学报,2006,24(1):106-110.
[61]叶佩青,杨开明,尹文生.基于振动模型的精密工作台运动控制[J].清华大学学报,2006, 46(2):206-209.
[65]Chida,Yuichi.Vibration isolation controller design by frequency shaping with pole placement constraints.2004 IEEE International Conference on Control Applications,Sep2-4 2004.
[66]Book.W.J.Feedback Control of Two-Beam Two-Joint System with Distributed Flexibility.ASME Journal of Dynamic Systems,Measurements and Control,1975,9(4):424-431.
[67]蔡国平,洪嘉振.柔性梁结构的时滞主动控制[J].宇航学报.2003,24(5):518-524.
[68]邓子辰,钟万勰.空间刚柔性机械臂振动的精细控制[J].力学季刊,2000,21(3):277-281.
[69]戈新生,崔玮,赵秋玲.刚柔性耦合机械臂轨迹跟踪与振动抑制[J].工程力学,2005,22(6):188-191.
[70]陈学前,汪小华,阮剑华.两种独立模态空间控制法在柔性结构振动主动控制中的应用研究[J].中国科学技术大学学报,2006,31(6):700-706.
[71]陈仁文,陶宝祺,陈勇.利用压电元件的空间挠性结构振动主动控制研究[J].数据采集与处理,1999,14(1):128-132.
[72]岳林,刘福强.柔性智能桁架结构的独立模态空间控制方法实验研究[J].机械科学与技术,2001,20(3):465-467.
[73]蔡国平,洪嘉振.柔性悬臂梁的离散变结构控制[J].空间科学学报.2004,24(2):145-151.
[74]陈学前,汪小华,张培强.结构基于独立模态空间控制的神经网络控制[J].力学与实践,2003,25(1):48-50.
[75]Zhang,S.and D.Yu,Robust following controller design of wheeled mobile manipulator.Journal of University of Science and Technology Beijing,2003.25(1):p.69-73.
[76]Khelfi,M.F.and A.Abdessameud.Robust H-infinity trajectory tracking controller for a 6 D.O.F PUMA 560 robot manipulator.2007.Antalya,Turkey:Institute of Electrical and Electronics Engineers Computer Society,Piscataway,NJ 08855-1331,United States.
[77]Wai,R.-J.,K.-Y.Hsieh,and C.-M.Lin,Robust fuzzy neural network control for n-link robot manipulator.Journal of the Chinese Institute of Electrical Engineering,2003.10(1):p.21-32.
[78]Kim,H.S.,Y.M.Cho,and K.-I.Lee,Robust nonlinear task space control for 6 DOF parallel manipulator.Automatica,2005.41(9):p.1591-1600.
[79]Karimi,H.R.and M.J.Yazdanpanah,A new modeling approach to single-link flexible manipulator using singular perturbation method.Electrical Engineering,2006.88(5):p.375-382.
[80]Vossoughi,G.R.and A.Karimzadeh,Impedance control of a two degree-of-freedom planar flexible link manipulator using singular perturbation theory.Robotica,2006.24(2):p.221-228.
[81]Li,Y.,et al.,On the basis of the singular perturbation approach to control a two-link constrained flexible manipulator.High Technology Letters,2001.7(3):p.90-92.
[82]Zeng,K.and G.Li,Singular perturbation control approach to a hydraulically driven flexible manipulator.Zhongguo Jixie Gongcheng,2006.17(11):p.1128-1131.
[83]胡庆雷,马广富.带有输入非线性的挠性航天器姿态机动变结构控制[J].宇航学报,2006, 27,(4):630-634.
[84]张铁民,李贵涛,梁莉.带有加速度反馈的柔性机械臂开关变结构控制[J].机械工程学报,2002,38(3):39-41.
[85]张铁民,梁莉.带有应变反馈控制的柔性机械臂开关变结构控制的实验研究[J].中国机械工程,2001,12(8):849-851.
[86]Yallapragada S V,Heck B S and Finney J D.Reaching conditions for variable structure control with output feedback.Journal of Guidance,Control and Dynamics,1996,19(4):848-853.
[87]Shen Y,Liu C and Hu H.Output feedback variable structure control for uncertain systems with input nonlinearities.Journal of Guidance,Control and Dynamics,2000,23(4):762-764.
[88]周连文,周军.基于遗传算法的挠性航天器大角度机动的变结构控制[J].上海航天,2005(1):15-18.
[89]ElmaliH,OlgacN.Sliding mode control with perturbation estimation(SMCPE):a new approach.International Journal of Control,1992,56(1):923-941.
[90]Gyurkovics,E.and D.Svirko,A nonlinear observer for flexible joint robots.Periodica Polytechnica,Mechanical Engineering,2002.46(2):p.127-137.
[91]Chang-Woo,P.,et al.Control of uncertain flexible joint manipulator using adaptive Takagi-Sugeno fuzzy model based controller.Robotics and Automation,2001.Proceedings 2001 ICRA.IEEE International Conference on.
[92]Fuchun Sun,Lingbo Zhang,Yuangang Tang.Neural Network plus Fuzzy PD Control of Tip Vibration for Flexible-link Manipulators.Proceedings of 2004 IEEE IRS.J International Conference onIntelligent Robots end Systems Sendal,Japan,2004,(9):2042-2047.
[93]Kawabe,Hisashi,Tsukiyama,Naoki.Active vibration damping based on neural network theory.Materials Science and Engineering A,2006,442(1):547-550.
[94]Z.Mat.Darus,M.0.Tokhi.Adaptive neuro-active vibration suppression of a flexible plate structure.Electronics,Circuits and Systems 2003,1(1):360-363.
[95]Zmeu,K.V.,Shipitko,E.A.Perevozchilov,A.S.Linear neural model-based predictive controller design for flexible link robot.Intelligent Control,2004.Proceedings of the 2004IEEE International Symposium on 2004,p293-298.
[96]Hashim,S.Z.M.Tokhi,M.O.Nonlinear dynamic modeling of flexible beam structures using neural networks.Mechatronics,Proceedings of the IEEE International Conference,2004,p.171-175.
[97]陆佑方.柔性多体系统动力学[M].高等教育出版社,1996,P87-90.
[98]章定国,周胜丰.柔性杆柔性铰机器人动力学分析[J].应用数学和力学,2006,27(5):615-623.
[99]B.Subudhi,A.S.Morris,On the singular perturbation approach to trajectory control of a multilink manipulator with flexible links and joints.Journal of System and Control Engineering, 2001,215(6):587-598.
[100]张成新,余跃庆.具有关节柔性和臂柔性的机器人操作受限物体的动力学建模[J].机械工程学报,2003,19(6):9-12.
[101]Xi,E,R.G.Fenton,and B.Tabarrok,Coupling effects in a manipulator with both a flexible link and joint.Journal of Dynamic Systems,Measurement and Control,Transactions of the ASME,1994.116(4):p.826-831.
[102]Gao,Z.,C.Yun,and Y.Bian,Coupling effect of flexible joint and flexible link on dynamic singularity of flexible manipulator.Chinese Journal of Mechanical Engineering(English Edition),2008.21(1):p.9-12.
[103]邱志成.刚柔耦合系统的振动主动控制[J].机械工程学报,2006,42(11):28-33.
[104]D.G.Wilson,G.P.Starr,Robust control Desighn for Flexible-Link/Flexible-Joint Robots.International Conference on Robotecs and Automation,San Francisco,April,2000,1498-1501.
[105]Z.Shi,Y.Zhong,W.Xu,and M.Zhao.Decentralized robust control of uncertain robots with backlash and flexibility at joints.Beijing,China,2006,pp.4521-4526.
[106]Dong,Y.and A.Jnifene.Ibration control of a single Flexible-link Flexible-joint(FLFJ)manipulator using time delay.2007.Ottawa,ON,Canada:Institute of Electrical and Electronics Engineers Inc.,Piscataway,NJ 08855-1331.
[107]Nguyen,V.B.and A.S.Morris,Genetic algorithm tuned fuzzy logic controller for a robot arm with two-link flexibility and two-joint elasticity.Journal of Intelligent and Robotic Systems:Theory and Applications,2007.49(1):p.3-18.
[108]Withit.Chatlatanagulchai,Peter.Mechl.Motion control of two-link flexible-joint robot with actuator nonlinearities,using backstepping and neural networks.Intelligent Robots and Systems,2005,IEEE/RSJ Iternational conference,2511-2516.
[109]Selmic.R.R,Lewis.F.L.Neural-network approximation of piecewise continuous functions:application to friction compensation.Neural Networks,IEEE Transactions on,Vol.13,pp.745-751,2002.
[110]宋申民,宋卓异等.卫星光通信粗瞄系统非线性摩擦的神经网络补偿[J].航空学报,2007,28(3):358-364.
[111]张铁民,李成元.带有反馈控制的柔性机械臂动态研究与振动控制[J].机械工程学报,2000,26(3):47-50.
[112]员超,宗华光,周正干等.弹性梁式构件的运动稳定性分析[J].机械工程学报,2000,36(8):10-14.
[113]邱志成.刚柔耦合系统的振动主动控制[J].机械工程学报,2006,42(11):28-33.
[114]WANG Ying,XIONG Zhenhua,DING Han.Friction compensation design based on state observer and adaptive law for high-accuracy positioning system.PROGRESS IN NATURAL SCIENCE.2005,(15)9:1100-1105.
[115]刘强,尔联洁,刘金琨.摩擦非线性环节的特性、建模与控制补偿综述[J].系统工程与电子技术,2002,24(11):45-52.
[116]George Ellis.控制系统设计指南[M](刘君华译),电子工业出版社:2006年,第3版,p259.
[117]Kelly,R.,Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions.Automatic Control,IEEE Transactions on,1998.43(7):p.934-938.
[118]Hou,M.,Estimation of Sinusoidal Frequencies and Amplitudes Using Adaptive Identifier and Observer.Automatic Control,IEEE Transactions on,2007.52(3):p.493-499.
[119]Zergeroglu,E,Dixon,W,Behal,A.;Dawson,D.Adaptive set-point control of robotic manipulators with amplitude-limited control inputs.Source:Robotica,v 18,n 2,2000,p 171-181.
[120]Alvarez-Ramirez,J.,R.Kelly,and I.Cervantes,Semiglobal stability of saturated linear PID control for robot manipulators.Automatica,2003.39(6):p.989-995.
[121]Makoto Iwasaki,Tomohiro Shibata.Disturbance-observer-based nonlinear friction compensation in table drive system[J].IEEE/ASME Transaction on mechatronics,1999,4(1):3-8.
[122]Korondi.P,D.Young.Sliding mode based distrubancecompensation for motion control[C].IECON 97,1997,73-78.
[123]Su,Y.,P.C.Muller,and C.Zheng.A global asymptotic stable output feedback PID regulator for robot manipulators.2007.Rome,Italy:Institute of Electrical and Electronics Engineers Inc.,Piscataway,NJ 08855-1331,United States
[124]Dixon,W.E.,Adaptive Regulation of Amplitude Limited Robot Manipulators With Uncertain Kinematics and Dynamics.Automatic Control,IEEE Transactions on,2007.52(3):p.488-493.
[125]Dixon,W.E.,et al.,Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots.IEEE/ASME International Conference on Advanced Intelligent Mechatronics,AIM,1999:p.281-286.
[126]王永富,柴天佑.机器人关节摩擦的自适应模糊补偿建模与控制[J].仪器仪表学报,2006,27(2):186-190.
[127]宋申民,宋卓异,陈兴林等.卫星光通信粗瞄系统非线性摩擦的神经网络补偿[J].航空学报,2007,28(2):358-364.
[128]曹健,李尚义,赵克定.仿真转台用新型连续回转液压伺服马达摩擦特性研究[J].宇航学报,2003:24(4):374-377.
[129]Yaolong.T,C.Jie,et al.Adaptive backstepping control and friction compensation for AC servo with inertia and load uncertainties[J].Industrial Electronics,50(5):944-952.
[130]Zeng.H,N.Sepehri.Adaptive backstepping control of hydraulic manipulators with friction compensation using LuGre model[C].American Control Conference,2006:3163-3169.
[131]Wen-Fang.X.Sliding-mode-observer based adaptive control for servo actuator with friction.Industrial Electronics,54(3):1517-1527.
[132]彭济根,倪元华,乔红.柔性关节机械手的神经网络控制[J].自动化学报,2007,33(2):175-180.
[133]Sung Jin,Y.,P.Jin Bae,and C.Yoon Ho,Adaptive Dynamic Surface Control of Flexible-Joint Robots Using Self-Recurrent Wavelet Neural Networks.Systems,Man,and Cybernetics,Part B,IEEE Transactions on,2006.36(6):p.1342-1355.
[134]Spong M.W.Robot dynamics and control[M].New York:JohnWiley&Sons,1989.
[135]Patel,A.,et al.Robust Control of Flexible Joint Robot Manipulator.in Industrial Technology.ICIT 2006.IEEE International Conference on.2006,pp.649-653.
[136]PENG Ji-gen,NI Yuan-hua,QIAO Hong.Neural Network Control of Flexible-joint Robot Manipulator[J].ACTA Automation Sinica,2007,33(2):175-180(in Chinese).
[137]Taghirad,H.D.and M.A.Khosravi.Stability analysis and robust composite controller synthesis for flexible joint robots.Intelligent Robots and System,2002.IEEE/RSJ International Conference on.2002,pp.2073-2078 vol.3.
[138]Sang-Hun Lee and Jong-Sung Hui.A PID-type robust controller design for industrial robots with flexible joints.SICE-ICASE,international joint conference,2006,pp.5905-5910.
[139]Ghorbel,F.and M.W.Spong.Adaptive integral manifold control of flexible joint robot manipulators.in Robotics and Automation,IEEE International Conference on.1992 pp.707-714.
[140]孙富春,孙增圻,而联结.机械手的神经网络自适应滑动模控制器设计[J],航空学报,1997,18(2):168-172.
[141]C.W.Park.Robust Stable Fuzzy Control Via Fuzzy Modeling and Feedback Linearization with its Applications to controlling Uncertain Single-link Flexible-joint manipulator[J].Journal of Intelligent and Robotic Systems,Vol.39.pp.131-147,2004.
[142]于占东,王庆超.一类非线性系统的微分平滑反步自适应输出反馈控制[J].控制理论与应用,2005,22(5):687-693.
[143]付俊,赵军.基于扩展自适应Backstepping设计的TCSC非线性控制的新方法[J].控制理论与应用,2006,23(3):355-360.
[144]F.J.Lin,P.H.Shen.Adaptive backstepping sliding mode control for linear induction motor drive [J],Electric Power Applications(S1350-2352),IEE Proceedings,2002,149(3):183-193.
[145]Chatlatanagulchai.W.and P.H.Meckl.Intelligent Control of a Two-link Flexible-joint Robot,Using Backstepping,Neural networks,and Direct Method[C].Intelligent Robots and Systems,2005.(IROS 2005).2005 IEEE/RSJ International Conference on 2005,pp1594-1599..
[146]Shen.P.H and F.J.Lin.Intelligent backstepping sliding-mode control using RBFN for two-axis motion control system[J],Electric Power Applications(S1350-2352),2002,152(5):1321-1342
[147]Chatlatanagulchai,W.and P.H.Meckl.Motion control of two-link flexible-joint robot,using backstepping,neural networks,and indirect method,in Control Applications,2005.CCA 2005.Proceedings of 2005 IEEE Conference on.2005.
[148]Macnab,C.J.B.,G.M.T.D'Eleuterio,and M.Meng.CMAC adaptive control of flexible-joint robots using backstepping with tuning functions.in Robotics and Automation,2004.Proceedings. ICRA'04.2004 IEEE International Conference on.2004.
[149]Wang,D.and H.Jie,Neural network-based adaptive dynamic surface control for a class of uncertain nonlinear systems in strict-feedback form.Neural Networks,IEEE Transactions on,2005.16(1):p.195-202.
[150]Song,B.Decentralized dynamic surface control for a class of interconnected nonlinear systems.in American Control Conference,2006.2006.
[151]D.Swaroop,J.C.Gerdes,P.P.Yip,and J.K.Hedrick.Dynamic surface control of nonlinear systems,in Proc.Amer.Control Conf.,Albuquerque,NM,Jun.1997,pp.3028-3034.
[152]P.P.Yip and J.K.Hedrick.Adaptive dynamic surface control:A simplified algorithm for adaptive backstepping control of nonlinear systems,Int.J.Control,vol.71,no.5,pp.959-979,1998.
[153]Wang,D.and H.Jie,Neural network-based adaptive dynamic surface control for a class of uncertain nonlinear systems in strict-feedback form.Neural Networks,IEEE Transactions on,2005.16(1):p.195-202.
[154]李红春,张天平,孙妍.基于动态面控制的间接自适应神经网络块控制[J].电机与控制学报,2007,11(3):275-281.
[155]李军,刘君华.一种新型广义RBF神经网络在混沌时间序列预测中的研究[J].物理学报,2005,(54)10:4569-4577.
[156]Singer,N.C.and W.P.Seering,Preshaping command inputs to reduce system vibration.Journal of Dynamic Systems,Measurement and Control,Transactions ASME,1990.112(1):p.76-82.
[157]Singhose,W.E.and L.Y.Pao.Comparison of input shaping techniques for speed-critical multi-mode flexible systems.1996.Dearborn,MI,USA:IEEE,Piscataway,NJ,USA.
[158]Singhose,W.and L.Pao,Comparison of input shaping and time-optimal flexible-body control.Control Engineering Practice,1997.5(4):p.459-467.
[159]Singh,T.and G.R.Heppler.Shaped inputs for a multimode system.1993.Atlanta,GA,USA:Publ by IEEE,Piscataway,NJ,USA.
[160]Bodson,M.Adaptive algorithm with information-dependent data forgetting.1995.Seattle,WA,USA.
[161]Bodson,M.Adaptive algorithm for the tuning of two input shaping methods.1997.Albuquerque,NM,USA:IEEE,Piscataway,NJ,USA.
[162]Khorrami,F.,S.Jain,Experimental results on adaptive nonlinear control and input preshaping for multi-link flexible manipulators.Automatica,1995.31(1):p.83-97.
[163]J.Y.Park,P.H.Chang.Learning input shaping technique for non-LTI systems,ASME J.sys.Meas.And control,2001,123(2):288-293.
[164]Magee,D.P.and W.J.Book.Implementing modified command filtering to eliminate multiple modes of vibration.1993.San Francisco,CA,USA:Publ by IEEE,Piscataway,NJ,USA
[165]Juyi,P.and C.Pyung-Hun.Learning input shaping technique for non-LTI systems.in American Control Conference, 1998. Proceedings of the 1998. 1998.
[166]Zhihong Su and K.Khorasani.A neural-network-based controller for a single-link flexible manipulator using the inverse dynamics approach. IEEE Transactions on Industrial Electronics. Vol.48, No.6, December 2001.
[167] A. Patel, R. Neelgund, A. Wathore. Talole, Robust Control of Flexible Joint Robot Manipulator, in Industrial Technology, 2006. ICIT 2006. IEEE International Conference on, 2006, pp. 649-653.
[168] S. Abiko and K. Yoshida, An adaptive control of a space manipulator for vibration suppression, Intelligent Robots and Systems,2005 IEEE/RSJ International Conference on, 2005, pp. 2167-2172.
[169]Z. Youan, L. Fenglin, and S. Fuchun, Adaptive sliding mode control for one-link flexible manipulators with H/spl infin/ tracking performance, in Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on, 2004, pp. 4971-4975 Vol.6.
[2]邵志宇,孙汉旭,贾庆轩.一种空间机械臂构造模块的研制[J].宇航学报,2007,28(1):147-151.
[3]邱志成,谈大龙.基于加速度反馈的柔性关节机械臂接触力控制[J].机械工程学报,2002,38(10):37-41.
[4]Spong M W.Robot dynamics and control[M].New York:JohnWiley&Sons,1989.
[5]Rodriguez,H.,A.Astolfi,and R.Ortega.On the construction of static stabilizers and static output trackers for dynamically linearizable systems,related results and applications,in Decision and Control,2004.CDC.43rd IEEE Conference on.2004.
[6]彭济根,倪元华,乔红.柔性关节机械手的神经网络控制[J].自动化学报,2007,33(2):175-180.
[7]Ghorbel,F.and M.W.Spong.Adaptive integral manifold control of flexible joint robot manipulators,in Robotics and Automation,IEEE International Conference on.1992 pp.707-714vol.1.
[8]Taghirad,H.D.and M.A.Khosravi.Stability analysis and robust composite controller synthesis for flexible joint robots.Intelligent Robots and System,2002.IEEE/RSJ International Conference on.2002,pp.2073-2078 vol.3.
[9]Huang,A.-C.and Y.-C.Chen,Adaptive sliding control for single-link flexible-joint robot with mismatched uncertainties.IEEE Transactions on Control Systems Technology,2004.12(5):p.770-775.
[10]Woosoon,Y.Adaptive control of a flexible joint manipulator,in Robotics and Automation,2001.Proceedings 2001 ICRA.IEEE International Conference on.2001.
[11]Chien,M.-C.and A.-C.Huang,Adaptive control for flexible-joint electrically driven robot with time-varying uncertainties.IEEE Transactions on Industrial Electronics,2007.54(2):p.1032-1038.
[12]Patel,A.,et al.Robust Control of Flexible Joint Robot Manipulator.in Industrial Technology,2006.ICIT 2006.IEEE International Conference on.2006.
[13]Jong-Guk,Y.,et al.Robust Control using Recursive Design Method for Flexible Joint Robot Manipulator.in Robotics and Automation,2007 IEEE International Conference on.2007.
[14]孙富春,孙增圻,而联结.机械手的神经网络自适应滑动模控制器设计[J],航空学报,1997,18(2):168-172.
[15]Park,C.-W.,Robust stable fuzzy control via fuzzy modeling and feedback linearization with its applications to controlling uncertain single-link flexible joint manipulators.Journal of Intelligent and Robotic Systems:Theory and Applications,2004.39(2):p.131-147.
[16]Macnab,C.J.B.,G.M.T.D'Eleuterio,and M.Meng.CMAC adaptive control of flexible-joint robots using backstepping with tuning functions,in Robotics and Automation,2004.Proceedings.ICRA '04.2004 IEEE International Conference on.2004.
[17]Yansheng,Y.,F.Gang,and R.Junsheng,A combined backstepping and small-gain approach to robust adaptive fuzzy control for strict-feedback nonlinear systems.Systems,Man and Cybernetics,Part A,IEEE Transactions on,2004.34(3):p.406-420.
[18]Sung Jin,Y.,P.Jin Bae,and C.Yoon Ho,Adaptive Dynamic Surface Control of Flexible-Joint Robots Using Self-Recurrent Wavelet Neural Networks.Systems,Man and Cybernetics,Part B,IEEE Transactions on,2006.36(6):p.1342-1355.
[19]Chatlatanagulchai,W.and P.H.Meckl.Intelligent control of a two-link flexible-joint robot,using backstepping,neural networks,and direct method in Intelligent Robots and Systems,2005.2005IEEE/RSJ International Conference on.2005.
[20]Bauchau O A,Rodriguez J.Modeling of joints with clearance in flexible multibody systems.International Journal of Solids and Structures,2002,39(1):41-63.
[21]吴德隆,王毅,文荣.空间站大型伸展机构动力学研究中的若干问题[J].中国空间科学技术,1996,Vol.6.pp29-37.
[22]阎绍泽,陈鹿民,吴德隆等.空间可展机构非线性动力学特性实验研究[J].宇航学报,2002,23(4):1-3.
[23]阎绍泽,申永胜,陈洪彬.考虑杆件柔性和铰间隙的可展结构动力学数值模拟[J].清华大学学报(自然科学版),2003,42(2):145-148.
[24]阎绍泽.航天器中含间隙机构非线性动力学问题及其研究进展[J].动力学与控制学报,2004,2(2):48-52.
[25]马兴瑞,王本利,苟兴宇.航天器动力学-若干问题进展及应用[M].北京:科学出版社,2001.
[26]吴德隆,李海阳,彭伟斌.空间站大型伸展机构的运动稳定性分析[J].宇航学报,2002,23(6):98-102.
[27]Zergeroglu,E.,et al.,Adaptive set-point control of robotic manipulators with amplitude-limited control inputs.Robotica,2000.18(2):p.171-181.
[28]Dixon,W.E.Adaptive regulation of amplitude limited robot manipulators with uncertain kinematics and dynamics.2004.Boston,MA,United States:Institute of Electrical and Electronics Engineers Inc.,Piscataway,NJ 08855-1331,United States
[29]吴风,王景成,方小生等.抗饱和控制的一些新进展[J].化工自动化及仪表,2007,34(2):1-6.
[30]F.J.Lin,P.H.Shen.Adaptive backstepping sliding mode control for linear induction motor drive[J],Electric Power Applications(S1350-2352),IEE Proceedings,2002,149(3):183-193.
[31]Shen.P.H and F.J.Lin.Intelligent backstepping sliding-mode control using RBFN for two-axis motion control system[J],Electric Power Applications(S1350-2352),2002,152(5):1321-1342.
[32]L.Freidovich,A.Robertsson,A.Shiriaev,and R.Johansson,Friction compensation based on LuGre model,Decision and Control,2006 45th IEEE Conference on2006,pp.3837-3842.
[33]T.Dumitriu,M.Culea,T.Munteanu,and E.Ceanga,Friction Compensation for Accurate Positioning in DC Drive Tracking System,Electrical and Electronics Engineering,2006,pp.1-4.
[34]Yaolong,T.,C.Jie,and T.Hualin.Adaptive friction compensation for induction motors with inertia and load uncertainties.2000
[35]Yaolong,T.,C.Jie,and T.Hualin,Adaptive backstepping control and friction compensation for AC servo with inertia and load uncertainties.Industrial Electronics,IEEE Transactions on,2003.50(5):p.944-952.
[36]Jinkun,L.and S.Fuchun.Fuzzy Global Sliding Mode Control for a Servo System with Lugre Friction Model.2006.
[37]Zeng,H.and N.Sepehri.Adaptive backstepping control of hydraulic manipulators with friction compensation using LuGre model.2006.
[38]Korondi,P.,D.Young,and H.Hashimoto.Sliding mode based disturbance compensation for motion control,in Industrial Electronics,Control and Instrumentation,1997.IECON 97.23rd International Conference on.1997.
[39]Ge,S.S.,T.H.Lee,and J.Wang.Adaptive NN control of dynamic systems with unknown dynamic friction.2000.
[40]WANG Yongfu,C.T.,Compensating modeling and control of robot joint friction based on adaptive fuzzy systems.Chinese Journal of Scientific Instrument,2006.27(2):p.186-190.
[41]洪嘉振,尤超蓝.刚柔耦合系统动力学研究进展[J].动力学与控制学报,2004,2(2):1-6.
[42]宋轶民,余跃庆等.柔性机器人动力学分析与振动控制研究综述[J].机械设计,2003,20(4):1-5.
[43]刘明治,刘春霞.柔性机械臂动力学建模和控制研究[J].力学进展,2001,31(1):1-8.
[44]王树国,丁希仑,蔡鹤皋.机器人柔性臂动力学有限元建模方法的研究[J].哈尔滨工业大学学报,1996,29(1):114-116.
[45]邓峰岩,和兴锁,李亮等.计及变形耦合的双连杆柔性机械臂动力学模型[J].机械工程学报,2006,42(增刊):69-73.
[46]Guo,J.,C.-H.Li,and G.-C.Dai,Dynamic simulation of two links flexible manipulator.Yuhang Xuebao/Journal of Astronautics,2006.27(5):p.1044-1049.
[47]Loke,V.L.Y.,et al.Modelling optical micro-machines and birefringent particles.2006.San Diego,CA,United States:International Society for Optical Engineering,Bellingham WA,WA 98227-0010,United States.
[48]Jones,B.A.and I.D.Walker,Practical kinematics for real-time implementation of continuum robots.IEEE Transactions on Robotics,2006.22(6):p.1087-1099.
[49]何勇,袁茹,王三民.结构参数对双柔性臂的动力学性能影响的研究[J].振动与冲击,2007,26(4):90-93.
[50]刘锦阳,洪嘉振.温度场中的柔性梁系统动力学建模[J].振动工程学报,2006,19(4):469-474.
[51]王洪福,曲东升,孙立宁.柔性臂动力学模型中单杆的质量—弹性杆简化模型的讨论[J].机器人,2001,23(7):691-694.
[52]Ho,M.T.and Y.W.Tu,Position control of a single-link flexible manipulator using H/spl infin-based PID control.Control Theory and Applications,IEE Proceedings,2006.153(5):p.615-622.
[53]Jnifene,A.and W.Andrews,Experimental study on active vibration control of a single-link flexible manipulator using tools of fuzzy logic and neural networks.Instrumentation and Measurement,IEEE Transactions on,2005.54(3):p.1200-1208.
[54]Jee-Hwan,R.,K.Dong-Soo,and B.Hannaford,Control of a flexible manipulator with noncollocated feedback:time-domain passivity approach.Robotics,IEEE Transactions on Robotics and Automation,2004.20(4):p.776-780.
[55]Bai,Z.,X.Han,and W.Chen,Study of a 3-DOF parallel manipulator dynamics based on Lagrange equation.Journal of Beijing University of Aeronautics and Astronautics,2004.30(1):p.51-54.
[56]Pendar,H.,M.Vakil,and H.Zohoor.Efficient dynamic equations of 3-RPS parallel mechanism through lagrange method.2004.Singapore:Institute of Electrical and Electronics Engineers Inc.,New York,NY 10016-5997,United States.
[57]Yang,J.,J.Wang,and D.Yu,Modular computation method for inverse kinematics and dynamics of spatial parallel manipulator.Chinese Journal of Mechanical Engineering,2005.41(5):p.104-107.
[58]Pratiher,B.and S.K.Dwivedy,Non-linear dynamics of a flexible single link Cartesian manipulator.International Journal of Non-Linear Mechanics,2007.42(9):p.1062-1073.
[59]You,C.-L.,J.-Z.Hong,and G.-P.Cai,Modeling study of planar flexible manipulator undergoing large deformation.Journal of Shanghai Jiaotong University(Science),2007.12 E(6):p.824-830.
[60]Liu,W.-F.,Z.-B.Gong,and Q.-Q.Wang.Investigation on Kane dynamic equations based on screw theory for open-chain manipulators.Applied Mathematics and Mechanics(English Edition),2005.26(5):p.627-635.
[61]Tanner,H.G.and K.J.Kyriakopoulos.Kane's approach to modeling mobile manipulators.Advanced Robotics,2002.16(1):p.57-85.
[62]董兴建,孟光.压电悬臂梁的动力学建模与主动控制[J].振动与冲击,2006,24(6):54-57.
[63]孙浩,杨志春.基于极点配置参数优化的压电分流阻尼抑振研究[J].西北工业大学学报,2006,24(1):106-110.
[61]叶佩青,杨开明,尹文生.基于振动模型的精密工作台运动控制[J].清华大学学报,2006, 46(2):206-209.
[65]Chida,Yuichi.Vibration isolation controller design by frequency shaping with pole placement constraints.2004 IEEE International Conference on Control Applications,Sep2-4 2004.
[66]Book.W.J.Feedback Control of Two-Beam Two-Joint System with Distributed Flexibility.ASME Journal of Dynamic Systems,Measurements and Control,1975,9(4):424-431.
[67]蔡国平,洪嘉振.柔性梁结构的时滞主动控制[J].宇航学报.2003,24(5):518-524.
[68]邓子辰,钟万勰.空间刚柔性机械臂振动的精细控制[J].力学季刊,2000,21(3):277-281.
[69]戈新生,崔玮,赵秋玲.刚柔性耦合机械臂轨迹跟踪与振动抑制[J].工程力学,2005,22(6):188-191.
[70]陈学前,汪小华,阮剑华.两种独立模态空间控制法在柔性结构振动主动控制中的应用研究[J].中国科学技术大学学报,2006,31(6):700-706.
[71]陈仁文,陶宝祺,陈勇.利用压电元件的空间挠性结构振动主动控制研究[J].数据采集与处理,1999,14(1):128-132.
[72]岳林,刘福强.柔性智能桁架结构的独立模态空间控制方法实验研究[J].机械科学与技术,2001,20(3):465-467.
[73]蔡国平,洪嘉振.柔性悬臂梁的离散变结构控制[J].空间科学学报.2004,24(2):145-151.
[74]陈学前,汪小华,张培强.结构基于独立模态空间控制的神经网络控制[J].力学与实践,2003,25(1):48-50.
[75]Zhang,S.and D.Yu,Robust following controller design of wheeled mobile manipulator.Journal of University of Science and Technology Beijing,2003.25(1):p.69-73.
[76]Khelfi,M.F.and A.Abdessameud.Robust H-infinity trajectory tracking controller for a 6 D.O.F PUMA 560 robot manipulator.2007.Antalya,Turkey:Institute of Electrical and Electronics Engineers Computer Society,Piscataway,NJ 08855-1331,United States.
[77]Wai,R.-J.,K.-Y.Hsieh,and C.-M.Lin,Robust fuzzy neural network control for n-link robot manipulator.Journal of the Chinese Institute of Electrical Engineering,2003.10(1):p.21-32.
[78]Kim,H.S.,Y.M.Cho,and K.-I.Lee,Robust nonlinear task space control for 6 DOF parallel manipulator.Automatica,2005.41(9):p.1591-1600.
[79]Karimi,H.R.and M.J.Yazdanpanah,A new modeling approach to single-link flexible manipulator using singular perturbation method.Electrical Engineering,2006.88(5):p.375-382.
[80]Vossoughi,G.R.and A.Karimzadeh,Impedance control of a two degree-of-freedom planar flexible link manipulator using singular perturbation theory.Robotica,2006.24(2):p.221-228.
[81]Li,Y.,et al.,On the basis of the singular perturbation approach to control a two-link constrained flexible manipulator.High Technology Letters,2001.7(3):p.90-92.
[82]Zeng,K.and G.Li,Singular perturbation control approach to a hydraulically driven flexible manipulator.Zhongguo Jixie Gongcheng,2006.17(11):p.1128-1131.
[83]胡庆雷,马广富.带有输入非线性的挠性航天器姿态机动变结构控制[J].宇航学报,2006, 27,(4):630-634.
[84]张铁民,李贵涛,梁莉.带有加速度反馈的柔性机械臂开关变结构控制[J].机械工程学报,2002,38(3):39-41.
[85]张铁民,梁莉.带有应变反馈控制的柔性机械臂开关变结构控制的实验研究[J].中国机械工程,2001,12(8):849-851.
[86]Yallapragada S V,Heck B S and Finney J D.Reaching conditions for variable structure control with output feedback.Journal of Guidance,Control and Dynamics,1996,19(4):848-853.
[87]Shen Y,Liu C and Hu H.Output feedback variable structure control for uncertain systems with input nonlinearities.Journal of Guidance,Control and Dynamics,2000,23(4):762-764.
[88]周连文,周军.基于遗传算法的挠性航天器大角度机动的变结构控制[J].上海航天,2005(1):15-18.
[89]ElmaliH,OlgacN.Sliding mode control with perturbation estimation(SMCPE):a new approach.International Journal of Control,1992,56(1):923-941.
[90]Gyurkovics,E.and D.Svirko,A nonlinear observer for flexible joint robots.Periodica Polytechnica,Mechanical Engineering,2002.46(2):p.127-137.
[91]Chang-Woo,P.,et al.Control of uncertain flexible joint manipulator using adaptive Takagi-Sugeno fuzzy model based controller.Robotics and Automation,2001.Proceedings 2001 ICRA.IEEE International Conference on.
[92]Fuchun Sun,Lingbo Zhang,Yuangang Tang.Neural Network plus Fuzzy PD Control of Tip Vibration for Flexible-link Manipulators.Proceedings of 2004 IEEE IRS.J International Conference onIntelligent Robots end Systems Sendal,Japan,2004,(9):2042-2047.
[93]Kawabe,Hisashi,Tsukiyama,Naoki.Active vibration damping based on neural network theory.Materials Science and Engineering A,2006,442(1):547-550.
[94]Z.Mat.Darus,M.0.Tokhi.Adaptive neuro-active vibration suppression of a flexible plate structure.Electronics,Circuits and Systems 2003,1(1):360-363.
[95]Zmeu,K.V.,Shipitko,E.A.Perevozchilov,A.S.Linear neural model-based predictive controller design for flexible link robot.Intelligent Control,2004.Proceedings of the 2004IEEE International Symposium on 2004,p293-298.
[96]Hashim,S.Z.M.Tokhi,M.O.Nonlinear dynamic modeling of flexible beam structures using neural networks.Mechatronics,Proceedings of the IEEE International Conference,2004,p.171-175.
[97]陆佑方.柔性多体系统动力学[M].高等教育出版社,1996,P87-90.
[98]章定国,周胜丰.柔性杆柔性铰机器人动力学分析[J].应用数学和力学,2006,27(5):615-623.
[99]B.Subudhi,A.S.Morris,On the singular perturbation approach to trajectory control of a multilink manipulator with flexible links and joints.Journal of System and Control Engineering, 2001,215(6):587-598.
[100]张成新,余跃庆.具有关节柔性和臂柔性的机器人操作受限物体的动力学建模[J].机械工程学报,2003,19(6):9-12.
[101]Xi,E,R.G.Fenton,and B.Tabarrok,Coupling effects in a manipulator with both a flexible link and joint.Journal of Dynamic Systems,Measurement and Control,Transactions of the ASME,1994.116(4):p.826-831.
[102]Gao,Z.,C.Yun,and Y.Bian,Coupling effect of flexible joint and flexible link on dynamic singularity of flexible manipulator.Chinese Journal of Mechanical Engineering(English Edition),2008.21(1):p.9-12.
[103]邱志成.刚柔耦合系统的振动主动控制[J].机械工程学报,2006,42(11):28-33.
[104]D.G.Wilson,G.P.Starr,Robust control Desighn for Flexible-Link/Flexible-Joint Robots.International Conference on Robotecs and Automation,San Francisco,April,2000,1498-1501.
[105]Z.Shi,Y.Zhong,W.Xu,and M.Zhao.Decentralized robust control of uncertain robots with backlash and flexibility at joints.Beijing,China,2006,pp.4521-4526.
[106]Dong,Y.and A.Jnifene.Ibration control of a single Flexible-link Flexible-joint(FLFJ)manipulator using time delay.2007.Ottawa,ON,Canada:Institute of Electrical and Electronics Engineers Inc.,Piscataway,NJ 08855-1331.
[107]Nguyen,V.B.and A.S.Morris,Genetic algorithm tuned fuzzy logic controller for a robot arm with two-link flexibility and two-joint elasticity.Journal of Intelligent and Robotic Systems:Theory and Applications,2007.49(1):p.3-18.
[108]Withit.Chatlatanagulchai,Peter.Mechl.Motion control of two-link flexible-joint robot with actuator nonlinearities,using backstepping and neural networks.Intelligent Robots and Systems,2005,IEEE/RSJ Iternational conference,2511-2516.
[109]Selmic.R.R,Lewis.F.L.Neural-network approximation of piecewise continuous functions:application to friction compensation.Neural Networks,IEEE Transactions on,Vol.13,pp.745-751,2002.
[110]宋申民,宋卓异等.卫星光通信粗瞄系统非线性摩擦的神经网络补偿[J].航空学报,2007,28(3):358-364.
[111]张铁民,李成元.带有反馈控制的柔性机械臂动态研究与振动控制[J].机械工程学报,2000,26(3):47-50.
[112]员超,宗华光,周正干等.弹性梁式构件的运动稳定性分析[J].机械工程学报,2000,36(8):10-14.
[113]邱志成.刚柔耦合系统的振动主动控制[J].机械工程学报,2006,42(11):28-33.
[114]WANG Ying,XIONG Zhenhua,DING Han.Friction compensation design based on state observer and adaptive law for high-accuracy positioning system.PROGRESS IN NATURAL SCIENCE.2005,(15)9:1100-1105.
[115]刘强,尔联洁,刘金琨.摩擦非线性环节的特性、建模与控制补偿综述[J].系统工程与电子技术,2002,24(11):45-52.
[116]George Ellis.控制系统设计指南[M](刘君华译),电子工业出版社:2006年,第3版,p259.
[117]Kelly,R.,Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions.Automatic Control,IEEE Transactions on,1998.43(7):p.934-938.
[118]Hou,M.,Estimation of Sinusoidal Frequencies and Amplitudes Using Adaptive Identifier and Observer.Automatic Control,IEEE Transactions on,2007.52(3):p.493-499.
[119]Zergeroglu,E,Dixon,W,Behal,A.;Dawson,D.Adaptive set-point control of robotic manipulators with amplitude-limited control inputs.Source:Robotica,v 18,n 2,2000,p 171-181.
[120]Alvarez-Ramirez,J.,R.Kelly,and I.Cervantes,Semiglobal stability of saturated linear PID control for robot manipulators.Automatica,2003.39(6):p.989-995.
[121]Makoto Iwasaki,Tomohiro Shibata.Disturbance-observer-based nonlinear friction compensation in table drive system[J].IEEE/ASME Transaction on mechatronics,1999,4(1):3-8.
[122]Korondi.P,D.Young.Sliding mode based distrubancecompensation for motion control[C].IECON 97,1997,73-78.
[123]Su,Y.,P.C.Muller,and C.Zheng.A global asymptotic stable output feedback PID regulator for robot manipulators.2007.Rome,Italy:Institute of Electrical and Electronics Engineers Inc.,Piscataway,NJ 08855-1331,United States
[124]Dixon,W.E.,Adaptive Regulation of Amplitude Limited Robot Manipulators With Uncertain Kinematics and Dynamics.Automatic Control,IEEE Transactions on,2007.52(3):p.488-493.
[125]Dixon,W.E.,et al.,Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots.IEEE/ASME International Conference on Advanced Intelligent Mechatronics,AIM,1999:p.281-286.
[126]王永富,柴天佑.机器人关节摩擦的自适应模糊补偿建模与控制[J].仪器仪表学报,2006,27(2):186-190.
[127]宋申民,宋卓异,陈兴林等.卫星光通信粗瞄系统非线性摩擦的神经网络补偿[J].航空学报,2007,28(2):358-364.
[128]曹健,李尚义,赵克定.仿真转台用新型连续回转液压伺服马达摩擦特性研究[J].宇航学报,2003:24(4):374-377.
[129]Yaolong.T,C.Jie,et al.Adaptive backstepping control and friction compensation for AC servo with inertia and load uncertainties[J].Industrial Electronics,50(5):944-952.
[130]Zeng.H,N.Sepehri.Adaptive backstepping control of hydraulic manipulators with friction compensation using LuGre model[C].American Control Conference,2006:3163-3169.
[131]Wen-Fang.X.Sliding-mode-observer based adaptive control for servo actuator with friction.Industrial Electronics,54(3):1517-1527.
[132]彭济根,倪元华,乔红.柔性关节机械手的神经网络控制[J].自动化学报,2007,33(2):175-180.
[133]Sung Jin,Y.,P.Jin Bae,and C.Yoon Ho,Adaptive Dynamic Surface Control of Flexible-Joint Robots Using Self-Recurrent Wavelet Neural Networks.Systems,Man,and Cybernetics,Part B,IEEE Transactions on,2006.36(6):p.1342-1355.
[134]Spong M.W.Robot dynamics and control[M].New York:JohnWiley&Sons,1989.
[135]Patel,A.,et al.Robust Control of Flexible Joint Robot Manipulator.in Industrial Technology.ICIT 2006.IEEE International Conference on.2006,pp.649-653.
[136]PENG Ji-gen,NI Yuan-hua,QIAO Hong.Neural Network Control of Flexible-joint Robot Manipulator[J].ACTA Automation Sinica,2007,33(2):175-180(in Chinese).
[137]Taghirad,H.D.and M.A.Khosravi.Stability analysis and robust composite controller synthesis for flexible joint robots.Intelligent Robots and System,2002.IEEE/RSJ International Conference on.2002,pp.2073-2078 vol.3.
[138]Sang-Hun Lee and Jong-Sung Hui.A PID-type robust controller design for industrial robots with flexible joints.SICE-ICASE,international joint conference,2006,pp.5905-5910.
[139]Ghorbel,F.and M.W.Spong.Adaptive integral manifold control of flexible joint robot manipulators.in Robotics and Automation,IEEE International Conference on.1992 pp.707-714.
[140]孙富春,孙增圻,而联结.机械手的神经网络自适应滑动模控制器设计[J],航空学报,1997,18(2):168-172.
[141]C.W.Park.Robust Stable Fuzzy Control Via Fuzzy Modeling and Feedback Linearization with its Applications to controlling Uncertain Single-link Flexible-joint manipulator[J].Journal of Intelligent and Robotic Systems,Vol.39.pp.131-147,2004.
[142]于占东,王庆超.一类非线性系统的微分平滑反步自适应输出反馈控制[J].控制理论与应用,2005,22(5):687-693.
[143]付俊,赵军.基于扩展自适应Backstepping设计的TCSC非线性控制的新方法[J].控制理论与应用,2006,23(3):355-360.
[144]F.J.Lin,P.H.Shen.Adaptive backstepping sliding mode control for linear induction motor drive [J],Electric Power Applications(S1350-2352),IEE Proceedings,2002,149(3):183-193.
[145]Chatlatanagulchai.W.and P.H.Meckl.Intelligent Control of a Two-link Flexible-joint Robot,Using Backstepping,Neural networks,and Direct Method[C].Intelligent Robots and Systems,2005.(IROS 2005).2005 IEEE/RSJ International Conference on 2005,pp1594-1599..
[146]Shen.P.H and F.J.Lin.Intelligent backstepping sliding-mode control using RBFN for two-axis motion control system[J],Electric Power Applications(S1350-2352),2002,152(5):1321-1342
[147]Chatlatanagulchai,W.and P.H.Meckl.Motion control of two-link flexible-joint robot,using backstepping,neural networks,and indirect method,in Control Applications,2005.CCA 2005.Proceedings of 2005 IEEE Conference on.2005.
[148]Macnab,C.J.B.,G.M.T.D'Eleuterio,and M.Meng.CMAC adaptive control of flexible-joint robots using backstepping with tuning functions.in Robotics and Automation,2004.Proceedings. ICRA'04.2004 IEEE International Conference on.2004.
[149]Wang,D.and H.Jie,Neural network-based adaptive dynamic surface control for a class of uncertain nonlinear systems in strict-feedback form.Neural Networks,IEEE Transactions on,2005.16(1):p.195-202.
[150]Song,B.Decentralized dynamic surface control for a class of interconnected nonlinear systems.in American Control Conference,2006.2006.
[151]D.Swaroop,J.C.Gerdes,P.P.Yip,and J.K.Hedrick.Dynamic surface control of nonlinear systems,in Proc.Amer.Control Conf.,Albuquerque,NM,Jun.1997,pp.3028-3034.
[152]P.P.Yip and J.K.Hedrick.Adaptive dynamic surface control:A simplified algorithm for adaptive backstepping control of nonlinear systems,Int.J.Control,vol.71,no.5,pp.959-979,1998.
[153]Wang,D.and H.Jie,Neural network-based adaptive dynamic surface control for a class of uncertain nonlinear systems in strict-feedback form.Neural Networks,IEEE Transactions on,2005.16(1):p.195-202.
[154]李红春,张天平,孙妍.基于动态面控制的间接自适应神经网络块控制[J].电机与控制学报,2007,11(3):275-281.
[155]李军,刘君华.一种新型广义RBF神经网络在混沌时间序列预测中的研究[J].物理学报,2005,(54)10:4569-4577.
[156]Singer,N.C.and W.P.Seering,Preshaping command inputs to reduce system vibration.Journal of Dynamic Systems,Measurement and Control,Transactions ASME,1990.112(1):p.76-82.
[157]Singhose,W.E.and L.Y.Pao.Comparison of input shaping techniques for speed-critical multi-mode flexible systems.1996.Dearborn,MI,USA:IEEE,Piscataway,NJ,USA.
[158]Singhose,W.and L.Pao,Comparison of input shaping and time-optimal flexible-body control.Control Engineering Practice,1997.5(4):p.459-467.
[159]Singh,T.and G.R.Heppler.Shaped inputs for a multimode system.1993.Atlanta,GA,USA:Publ by IEEE,Piscataway,NJ,USA.
[160]Bodson,M.Adaptive algorithm with information-dependent data forgetting.1995.Seattle,WA,USA.
[161]Bodson,M.Adaptive algorithm for the tuning of two input shaping methods.1997.Albuquerque,NM,USA:IEEE,Piscataway,NJ,USA.
[162]Khorrami,F.,S.Jain,Experimental results on adaptive nonlinear control and input preshaping for multi-link flexible manipulators.Automatica,1995.31(1):p.83-97.
[163]J.Y.Park,P.H.Chang.Learning input shaping technique for non-LTI systems,ASME J.sys.Meas.And control,2001,123(2):288-293.
[164]Magee,D.P.and W.J.Book.Implementing modified command filtering to eliminate multiple modes of vibration.1993.San Francisco,CA,USA:Publ by IEEE,Piscataway,NJ,USA
[165]Juyi,P.and C.Pyung-Hun.Learning input shaping technique for non-LTI systems.in American Control Conference, 1998. Proceedings of the 1998. 1998.
[166]Zhihong Su and K.Khorasani.A neural-network-based controller for a single-link flexible manipulator using the inverse dynamics approach. IEEE Transactions on Industrial Electronics. Vol.48, No.6, December 2001.
[167] A. Patel, R. Neelgund, A. Wathore. Talole, Robust Control of Flexible Joint Robot Manipulator, in Industrial Technology, 2006. ICIT 2006. IEEE International Conference on, 2006, pp. 649-653.
[168] S. Abiko and K. Yoshida, An adaptive control of a space manipulator for vibration suppression, Intelligent Robots and Systems,2005 IEEE/RSJ International Conference on, 2005, pp. 2167-2172.
[169]Z. Youan, L. Fenglin, and S. Fuchun, Adaptive sliding mode control for one-link flexible manipulators with H/spl infin/ tracking performance, in Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on, 2004, pp. 4971-4975 Vol.6.
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |