- ISSN 0258-2724
- CN 51-1277/U
- EI Compendex
- Scopus
- Indexed by Core Journals of China, Chinese S&T Journal Citation Reports
- Chinese S&T Journal Citation Reports
- Chinese Science Citation Database
| Citation: | XUE Xiaoqiang, WANG Xiaoyong, LIU Wei, CHE Jian, SHEN Xiaolong, CHEN He. Regulation Control of Flexible Manipulators with Unknown Parameters[J]. Journal of Southwest Jiaotong University. doi: 10.3969/j.issn.0258-2724.20250270
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With the rapid development of industrial automation and intelligent manufacturing, flexible manipulators have been widely used in the aerospace and precision instrument manufacturing industries. To address the challenges of achieving precise positioning and suppressing vibrations in flexible manipulators with unknown parameters, a sliding mode control method based on a time-delay estimator (TDE) is proposed. First, the dynamic characteristics of the system are analyzed and the dynamic model is established. On this basis, a sliding mode controller is designed, and the unknown system dynamics are estimated by using a time-delay estimator. Furthermore, to enhance the system’s control performance, a term for suppressing the load deflection angle is incorporated into the control law to effectively reduce the effects of flexible vibrations. Subsequently, a rigorous stability analysis of the closed-loop system is conducted, and the convergence of the system state variables is proved. Finally, simulation experiments were conducted to verify the effectiveness of the proposed method. The results show that the proposed control method can achieve accurate positioning while effectively suppressing flexible vibrations.
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