基于未知参数估计的压电驱动微机械臂运动跟踪自适应控制

Yulong Zhang, Qingsong Xu
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引用次数: 1

摘要

由压电作动器驱动的微夹持器是一种典型的微机械臂。为了控制系统获得精确的位置,必须保证系统具有良好的自适应能力和对干扰的鲁棒性。然而,由于PEA中的非线性滞后和漂移等其他干扰,要获得精确的位置控制并不容易。另一个困难在于质量、阻尼或刚度的变化。本文提出了一种基于自适应律的滑模控制方法来解决这些问题。所设计的控制器可以保证微机械臂的稳定性。使系统具有足够的可行性和鲁棒性,以抵抗扰动和不确定参数的变化。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Adaptive control with unknown parameters estimation for motion tracking of piezo-driven micromanipulator
The microgripper actuated by piezoelectric actuator (PEA) is a typical micromanipulator. In order to control it to attain exact position, a good adaptiveness and robustness against disturbance should be guaranteed. However, because of the nonlinear hysteresis in the PEA and other disturbance such as drift, it is not an easy assignment to get an accurate position control. Another difficulty lies in the changes of mass, damping or stiffness. This paper proposes a solution to tackle these difficulties using sliding mode control with an adaptive law. The designed controller can guarantee the stability of micromanipulator. It also enables the system enough feasibility and robustness to resist the disturbance and the variation of uncertain parameters.
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