【摘要】 对双连杆柔性机械臂的奇异摄动模型 ,分别采用滑模控制方法和H∞ 优化方法设计了慢变和快变子系统的控制器 ,并进行了数值仿真 .更多还原

【Abstract】 This paper is the study of a singular perturbation modle of two link flexib manipulator. Designing the slow sub system and fast sub system controllers by sliding mode control methodology and H ∞ optimal methodology and simulating of the designed system.更多还原