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中文摘要：
基于奇异摄动方法，在将参数不确定双臂柔性机械手分解为慢变和快变两个子系统基础上，提出一种复合控制方法，以实现关节轨迹跟踪控制，抑制弹性振动。针对慢变子系统，提出一种模糊非奇异终端滑模控制方法，保证系统的全局稳定性，提高系统的跟踪速度和精度，同时消除滑模控制的抖振现象。针对快变子系统，提出一种基于观测器的LQR控制方法，估计系统不可测状态，压制柔性振动。仿真结果证明所提方法的有效性。
英文摘要：
An uncertain two-link flexible manipulator was decomposed into slow and fast subsystems by singular perturbation method. Then a hybrid control method was proposed to realize joint trajectory tracking control with oscillation suppression. For the slow subsystem, a fuzzy nonsingular terminal sliding mode control method was proposed to guarantee global stability, fast and precise tracking control, as well as to eliminate chattering phenomena. For the fast subsystem, an observer-based LQR control method was proposed to identify the unknown state variables and suppress flexible oscillation. The simulation results validate the design method.
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