基于混沌遗传算法的柔性机械手滑模控制器优化设计-控制理论与应用.PDFVIP

25 3 Vol. 25 No. 3 2008 6 Control Theory Applications Jun. 2008 2008 , , (1. , 130012; 2. , 150001) : , , . , . , ; , , . , . . : ; ; : TP24 : A The optimal design of terminal sliding controller for flexible manipulators based on chaotic genetic algorithm ZHANG Niao-na , ZHANG De-jiang , FENG Yong (1. Department of Automation, Changchun University of Technology, changchun Jilin 130012, China; 2. Department of Electrical Engineering, Harbin Institute of Technology, Harbin Heilongjiang 150001, China) Abstract: To deal with the non-minimum-phase characteristic, a terminal sliding mode control strategy is proposed for a two-link flexible manipulator. The system output is redefined as a function of the joint angles and the variables of the flexible modes. Through input-output linearization, the system is decomposed into input-output subsystems and zero-dynamics subsystems. A terminal sliding mode control strategy is designed to make the outputs of the input-output subsystems converge in a finite time. By adjusting the parameters in the optimal controller, which is designed by chaotic genetic algorithm, the outputs of the zero-dynamics subsystems will be made asymptotically stable at the equilibrium point. Thus, the original two-link flexible manipulator control system is guaranteed to be asymptotically stable. The control design procedure is simple and easy to be implemented. Simulation results are presented to validate the design. Key words: terminal sliding mode control; flexible link manipulator; genetic algorithm 1