刚柔耦合探测系统的一致性跟踪及振动控制

Facing the complex collaborative detection tasks, the leader-following consensus and vibration control issues are investigated under directed graphs for multiple rigid-flexible coupled detection systems. A single rigid-flexible coupled detection system is composed of a rigid manipulator, flexible cables and the load at the end-effector. Firstly, by using Hamilton's principle, a distributed parameter dynamic model is established for a single system, which is represented by a set of partial and ordinary differential equations. Then, based on the system's distributed parameter model, a consensus boundary control strategy is designed to ensure that the rotational angles of rigid manipulators consistently follow the leader's desired angle, simultaneously suppressing the elastic deformation of flexible cables. By constructing a Lyapunov function and applying the LaSalle's Invariance Principle, the asymptotic stability of the closed-loop system is proven. Finally, numerical simulations in different cases are conducted to verify that the proposed control strategy can effectively a-chieve consensus tracking and vibration suppression.