A Survey on Modeling and Control Methods For Flexible Systems

摘要

In recent years, flexible systems that effectively combine the properties of flexibility and adaptability of flexible materials have become increasingly popular in various fields such as aerospace, robotics, industrial production, and civil engineering. Due to their lightweight, low energy consumption, high flexibility, and good initial conditions, these systems are now employed in a wide range of applications, such as flexible multi-linked manipulator systems, flexible bionic fluttering aircraft, intelligent flexible building systems, and flexible intelligent structural systems. However, there are still unresolved issues related to the dynamics modeling and control methods in the field of flexible systems. These include the trajectory tracking of flexible manipulators, the dynamics modeling and intelligent control of flexible flapping aircraft, and the vibration control of high-rise building structures in complex environments. This article aims to summarize and analyze the modeling methods and intelligent control strategies of flexible systems. Firstly, we categorize flexible system modeling methods into two types: those based on ordinary differential equations and partial differential equations. Secondly, we classify intelligent control strategies into two categories: classical control methods and intelligent control methods. We then discuss the strengths, weaknesses, and application scenarios of these different methods. Finally, we raise several questions regarding the current research status of modeling and intelligent control of flexible systems, and provide potential future research directions.