项华珍, 代记阳, 杨开锦. 弹性机器人的LQG/LTR控制[J]. 南昌航空大学学报(自然科学版), 1997, 11(1): 71-75.
引用本文: 项华珍, 代记阳, 杨开锦. 弹性机器人的LQG/LTR控制[J]. 南昌航空大学学报(自然科学版), 1997, 11(1): 71-75.
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XIANG Hua-zhen, DAI Ji-yang, YANG Kai-jin. The LQG/LTR Conrtol for Flexible Manipulators[J]. Journal of nanchang hangkong university(Natural science edition), 1997, 11(1): 71-75.
Citation: XIANG Hua-zhen, DAI Ji-yang, YANG Kai-jin. The LQG/LTR Conrtol for Flexible Manipulators[J]. Journal of nanchang hangkong university(Natural science edition), 1997, 11(1): 71-75.
shu

弹性机器人的LQG/LTR控制

The LQG/LTR Conrtol for Flexible Manipulators

    摘要
  • 摘要: LQG/LTR(线性二次高斯/环路传递恢复)设计方法仅适合于最小相位系统.本文对单臂弹性机器人系统(非最小相位系统),进行适当的处理和对方法进行改进后,仍采用LQG/LTR方法设计控制器,得到的闭环系统有较强的鲁棒性.

     

    Abstract: Generally,the LQG/LTR method for designing is only suitable for minimum-phase system,In this paper,this method was still used for designing coutroler when proper treatment for one-link flexible robot system (nonminmum-phase system)is done and the method is modified.The closed-Loop system obtained was better robust.

     

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