Rolling window non-causal inverse control method for flexible arm tail end path tracking
A rolling window and path tracking technology, applied in the direction of control using feedback, can solve problems such as poor robustness, extremely high model accuracy requirements, and difficulty in application
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[0068] Suppose you want to trace a circular path, you can construct such as Figure 4 Two trajectories are shown that cooperate with each other. First, use the method introduced above to obtain the dynamic model of the flexible arm, convert it into the form of the state equation, and determine the window width to be used; then, design the initialization window according to the requirements of the non-causal inverse theory and the expected path, and obtain the initial Start the system after the control input and reference state; finally, roll the window online with a fixed step size until the end of the system operation. Figure 5 The first axial output tracking effect diagram obtained by using the method used in the present invention, Image 6 The output tracking rendering of the second axial direction obtained by using the method used in the present invention; Figure 7 It is the four bounded internal dynamic diagrams of the system during the running process, and finally th...
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