Robust Controller Design for Flexible Manipulator Based on IMC-NI Method
This paper studies the control design problem of a type of flexible manipulator with uncertainty,and proposes a new negative imaginary method based on internal model control.By converting the problem of solving IMC controller parameters into a comprehensive problem of negative imaginary control,a set of matrix inequality conditions related to negative imaginary conditions is derived.At the same time,a stable polynomial parameter selection method in the controller design process is provided to optimize controller performance.Finally,the flexible arm simulation experiment shows that the IMC-NI method has better ro-bustness and dynamic response characteristics than H∞ control.
flexible manipulatorinternal model controlnegative imaginary controlrobustness
万方数据
维普
