控制理论(社会学)
终端滑动模式
链接(几何体)
终端(电信)
控制器(灌溉)
模式(计算机接口)
弹道
滑模控制
控制工程
跟踪(教育)
方案(数学)
跟踪误差
计算机科学
工程类
控制(管理)
数学
非线性系统
人工智能
物理
心理学
计算机网络
电信
教育学
量子力学
天文
农学
生物
操作系统
数学分析
作者
Xinxin Yang,Zhijun Zhong
标识
DOI:10.3182/20130902-3-cn-3020.00144
摘要
This paper presents a dynamic model and a class of terminal sliding mode control (TSMC) for two-link flexible manipulators with noncollocated feedback. With the assumed mode method, the closed form dynamic model of two-link flexible manipulators is derived by using the Lagrangian approach. The TSMC technique is used to design the controller. The mode coordinate vectors of flexible manipulators are computed by noncollocated feedback. The proposed TSMC guarantees that the output tracking error converges to zero in finite time under external disturbance. Numerical simulation results of two-link flexible manipulators are provided to verify the effectiveness of the proposed control scheme.
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