A Design Method of Disturbance Observer for Flexible Manipulator Based on Partial Differential Equation

Abstract

The invention provides a method for designing a flexible mechanical arm disturbance observer based on a partial differential equation. The method includes the four steps that firstly, dynamic modeling of a flexible mechanical arm is conducted; secondly, the disturbance observer is designed; thirdly, stability of the disturbance observer is verified; fourthly, design is finished. According to the method, firstly the Hamilton principle is used, so that a PDE model of a whole system is obtained; then, based on the model, the reasonable disturbance observer is designed so that external unknown disturbance can be estimated; finally, a proper Lyapunov function is designed, so that the designed observer is analyzed and the stability of the observer is verified.

Description

technical field

[0001] The present invention relates to a design method of a disturbance observer for a flexible manipulator based on a partial differential equation, which is aimed at a partial differential equation (Partial Differential Equation, PDE) dynamic model (hereinafter referred to as the PDE model) of a flexible manipulator, and provides a The invention discloses a design method of a disturbance observer, which belongs to the technical field of mechanical arm control. Background technique

[0002] Due to the advantages of light weight, high speed, and low energy consumption, flexible robotic arms are increasingly used in aerospace and industrial fields. In the past, most of the research on the observer of the flexible manipulator was based on the ordinary differential equation (Ordinary Differential Equation, ODE) dynamic model (hereinafter referred to as the ODE model). ODE model is simple in form and provides convenience for control law design. However, since ...

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