Nonlinear Continuous Time-varying Feedback Control Method for Multi-degree of Freedom Flexible Manipulators
In order to solve the long control delay of the multi degree of freedom flexible manipulator and the large difference between the motion trajectory caused by by low rationality of the selection of the positioning control coefficient of the multi degree of freedom flexible manipulator in the current control process of the manipulator,a nonlinear continuous time-varying feedback control method for the multi degree of freedom flexible manipulator is proposed.Based on the Lagrangian operator,the dynamic model of a multi DOF flexible manipulator is built in the form of energy.Considering the load state of the manipulator and the heavy torque of the manipulator,the nonlinear continuous time-varying feedback control parameters of the manipulator are identified.The non-linear controller of the manipulator is constructed by setting the nonlinear continuous time-varying feedback control rules to realize the positioning control of the manipulator.The experimental results show that the proposed method can effectively improve the consistency of the manipulator motion track and the preset track,shorten the manipulator positioning control delay,and further reinforce the application effect of the manipulator.
adaptive controlmulti-degree of freedom flexible manipulatorfeedback controlcontinuous time-varyingpositioning controldynamic face control
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