Switching Control Of The Robot Manipulator With Jumping Parameters

The robot manipulator would encounter a serious problem in practice application that the system parameter jump caused by the load switching.It is necessary to use the switching signal of the switching model to represent the parameter transition caused by the load switching,i.e.,to establishment a switch model for the robot manipulator.In the presence of switching loads,tracking problem are considered for the flexible manipulator and the manipulator with actuator saturation respectively.The tracking control problem of a class of flexible manipulators with switching load is discussed.A switched model for the flexible manipulator is established,and the switching signal is used to describe the parameter jump caused by the load switching.According to the singular perturbation method,the flexible manipulator is decomposed into a fast and a slow varying system,and the two systems are designed respectively.In order to achieve the tracking target,the multi-Lyapunove functions and the average dwell time method are used to design the switched sliding mode controller for the slow varying system.As for the vibration problem of the rapidly changing system,a vibration suppression controller is designed using the common Lyapunove function method and the parameter varying system design method.The simulation of a flexible two link manipulator shows that the flexible manipulator can track the target trajectory asymptotically,and can effectively suppress the elastic vibration.Finally,the manipulator with actuator saturation and the load changed is studied.Representing the load change caused parameter jump as the switching signal,we establish a switched manipulator model with actuator saturation.The multi-Lyapunov functions and the dwell time method are used to design the switching controller for the system,which ensures the global exponential stability of the system and enlarges the attracting domain estimation of the system.