Application of non-linear observer with simultaneous perturbation stochastic approximation method to single flexible link SMC

摘要

The main object in this study concerns to vibration control of a one-link flexible arm system. The robot link manipulators are widely used in various industrial applications. A variable structure system (VSS) non-linear observer has been proposed in order to reduce the oscillation in controlling the angular. The non-linear observer parameters are optimized using a novel version of simultaneous perturbation stochastic approximation (SPSA) algorithm. The SPSA algorithm is especially useful when the number of parameters to be adjusted is large, and makes it possible to estimate them very efficiently. As for the vibration and position control, a model reference sliding mode control (MR-SMC) has been proposed. The simulations show that the vibration and position controls of a one-link flexible arm system can be achieved more easy and efficiently with a non-linear observer designed using our proposed modified SPSA algorithm.