Research on adaptive hybrid control of flexible master-slave system
JIA Bai-long1; LIU Ying1; KOBAYASHI Yukinori 2
1. School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 10008,China;
2. Graduate School of Engineering, Hokkaido University, Sapporo, Hokkaido, 060-8628, Japan
Abstract：To study the motion and vibration of Flexible Master-Slave System, in this study a new adaptive hybrid controller is designed. In order to improve the performance of the system, a dynamic model is established, parameters sensitivity is analyzed based on the experimental results, and then the adaptive bilateral controller and the adaptive servo controller based on LQR are designed, in both of which the parameters can be changed according to the real-time tracing error. Finally the adaptive hybrid controller is built, which combines the adaptive bilateral controller and adaptive servo controller based on LQR with the gauge of real-time tracing error. Experimental results indicate adaptive hybrid controller has improved the motion stability and vibration suppression performance significantly.
2011, Vol. 30 
