Observer-based Non-fragile Robust Control And Its Simulation In Flexible Manipulator

As we know,sensors are usually used to obtain the state of systems in traditional feedback control,then the feedback control is implemented according to the measured state of the system.However,due to the economic and physical constraints in real systems,it is impossible to obtain all the system states through measurement,so observers are usually used in feedback control.On the other hand,in the real system,there may exit many kinds of disturbance duing to the environmental noise,system failure,component ageing and so on,which may lead to the unsatisfactory control result.In order to solve this problem,it is necessary to use observer-based non-fragile robust control to keep the stable of the disturbance systems.In recent years,flexible manipulator has been widely used in industrial production because of its low mass,high degree of freedom and low power consumption.However,as the flexible manipulator system is a complex nonlinear uncertain system with various interferences,how to realize the reliable control of the flexible manipulator system is still a difficult problem,which hinders the wide application of the flexible manipulator in engineering.Therefore,it is very important to study the control method of flexible manipulator.This paper starts from the linear systems,combines observer-based robust control with observer-based non-fragile control,studies the problem of observer-based non-fragile robust controller design for flexible manipulator systems through the following aspects:(1)For linear structure uncertain systems,an observer-based controller with lower conservatism for linear systems is designed,the sufficient conditions for linear systems with less conservative are obtained by using the linear matrix inequality method and Lyapunov stability theory;(2)In the linear structure uncertain system,the observer-based non-fragile robust controller is designed by combining observer-based non-fragile control with robust control,the sufficient conditions are obtained to ensure the stable of linear systems by using the linear matrix inequality method and the Lyapunov stability theory;(3)For nonlinear structure uncertain systems,the observer-based non-fragile robust controller of linear systems is extended to nonlinear systems,the observer-based non-fragile robust controller for nonlinear system satisfying the increasing quadratic condition is designed,the sufficient conditions are obtained to ensure the stable of linear systems by using the linear matrix inequality method and the Lyapunov stability theory;(4)The characteristics of flexible manipulator are analyzed and the state space model is established.The non-fragile robust control of uncertain nonlinear system is combined with the flexible manipulator model,then the simulation carried out by MATLAB software is analyzed.To sum up,this paper based on the design results of the observer-based non-fragile robust controller for uncertain system,uses the flexible manipulator system to conduct MATLAB simulation,and analyzes the control results according to the simulation.