スライディングモード制御による2リンク柔軟ロボットアームの制振制御

抄録

A low order modeling methodology and a reduced order output feedback control algorithm for suppressing the vibration and obtaining the high speed, high precision positioning of flexible robot are presented and discussed. The low order modeling methodology gives no modal truncation error and make it possible to vary the mode shapes of the link according to the change of the boundary conditions due to the feedback gains and the payload at the tip of the arm. The reduced order output feedback sliding mode control algorithm is designed by the combination of sliding mode controller and suboptimal output feedback controller so as to achieve both the damping of the system vigration and the stabilization at the same time. According to the presented method, the vibration suppression control of the two-link robot arm is realized by only 6 sensors, that is, this robot arm model is reduced to 6 output and 2 control input noncollocated system in spite of 34 state variables system.