Tracking control device and method of mechanical arm system

Abstract

The invention discloses a tracking control device and method of a mechanical arm system, aims to overcome defect of singularity of mechanical arm control in the terminal sliding-mode control technology adopted by a mechanical arm in the prior art, and provides a tracking control device of a mechanical arm system. According to the tracking control device, data acquired by a terminal sliding-mode observation module, a self-adaption adjusting module and an encoder are transmitted to a terminal sliding-mode control module which generates control signals for a movement controller to drive a corresponding arm joint to move. The invention further provides a tracking control method of the mechanical arm system. The method comprises steps as follows: the encoder acquires measurable state variables, the terminal sliding-mode observation module acquires estimated state variables, a nonsingular terminal sliding-mode surface is designed, uncertain external disturbance is estimated on the basis of the designed nonsingular terminal sliding-mode surface and the self-adaption adjusting module, and a nonsingular terminal sliding-mode controller is designed by utilizing a sliding mode technique and a feedback technique. According to the device and the method, final consistency and stability of the system can be guaranteed, and the device and the method are applicable to mechanical arm control.

Description

technical field [0001] The invention relates to the field of automatic control of a manipulator, in particular to a tracking control device and method for a manipulator system. Background technique [0002] The robotic arm is an automatic control device that mimics the function of the human arm and can complete various tasks. The main structure of the robotic arm is usually composed of a mechanical main body, a controller, a servo motor and an inductor. Among the various controller technologies for controlling the switching of the operating state of the manipulator, the sliding mode control technology has become one of the mainstream technologies for controller design due to its strong robustness, strong anti-interference ability and simple design. In actual control, due to the unreasonable design of the mechanical arm, the control of the mechanical arm will exceed the load of the mechanical arm, for example, the connecting rod of the mechanical arm will trigger a limit eme...

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Problems solved by technology

[0004] The first purpose of the present invention is to overcome the problem that the terminal sliding mode control technology adopted by the manipulator in the prior art cannot solve the problem of the singularity of the manipulator control well, and the hysteresis phenomenon is not considered in the control process to produce a large control error disadvantages, a tracking control device for a manipulator system is provided

[0005] The second purpose of the present invention is to overcome the problem that the terminal sliding mode control technology adopted by the manipulator in the prior art cannot solve the problem of the singularity of the manipulator control well, and the hysteresis phenomenon is not considered in the control process to produce a large control The disadvantage of the error, provides a tracking control method for the manipulator system

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