This paper investigates a tracking adaptive control issue of the master-slave flexible system with input signal quantisation. Considering the distributed parameter characteristics of the flexible manipulator, the master-slave teleoperation system is a dynamic model described by partial differential equations. In this work, an adaptive boundary bilateral coordination quantisation control scheme is developed such that input signal quantisation can be achieved by applying random quantiser. Based on such control strategy, all signals of the closed-loop system are bounded and Lyapunov method is used to prove uniform ultimate boundedness of the control system. The proposed control law can not only effectively eliminate the deflection of the flexible link but also realise angle coordination. The numerical simulation results are provided for illustrating the control effectiveness.

本文研究了具有输入信号量化的主从柔性系统的跟踪自适应控制问题。考虑到柔性机械手的分布参数特性，主从遥操作系统是一个用偏微分方程描述的动态模型。在这项工作中，开发了一种自适应边界双边协调量化控制方案，从而可以通过应用随机量化器来实现输入信号量化。基于这样的控制策略，闭环系统的所有信号都是有界的，并用李雅普诺夫方法证明了控制系统的一致极限有界性。所提出的控制律不仅可以有效消除柔性连杆的挠度，而且可以实现角度协调。