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Limit time cooperative control method of mechanical arm servo system

A technology of servo system and cooperative control, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve the problems of high-frequency chattering and other problems

Inactive Publication Date: 2014-12-17
ZHEJIANG UNIV OF TECH
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  • Claims
  • Application Information

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Problems solved by technology

However, sliding mode control has unavoidable disadvantages, such as high-frequency chattering

Method used

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  • Limit time cooperative control method of mechanical arm servo system
  • Limit time cooperative control method of mechanical arm servo system
  • Limit time cooperative control method of mechanical arm servo system

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Embodiment Construction

[0061] Referring to the accompanying drawings, the limited time cooperative control method of the mechanical arm servo system of the present invention includes the following steps:

[0062] Step 1, establish the dynamic model of the mechanical arm servo system shown in formula (1), initialize the system state, sampling time and related control parameters;

[0063] M ( x ) x . . + V m ( x , x . ) x . + G ( x ) + F ( x . ) = τ - τ d - - ...

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Abstract

A limit time cooperative control method of a mechanical arm servo system includes: building the dynamic model of the mechanical arm servo system, and initiating the system state, sampling time and related control parameters; approximating the nonlinear input dead zone linearity in the system into a simple time-varying system according to the differential mean value theorem, and deriving a mechanical arm servo system model with an unknown dead zone; calculating the tracking error, the non-singular terminal sliding mode surface and the first derivative of a control system; selecting a neural network approximation unknown function on the basis of the mechanical arm servo system model with the unknown dead zone, designing a neural network limit time cooperative controller according to the system tracking error and the non-singular terminal sliding mode surface, and updating a neural network weight matrix. By the method, additional inverted compensation of a nonlinear dead zone can be avoided, sliding model high-frequency buffeting is reduced, and limit time fast tracking of the mechanical arm servo system is achieved.

Description

technical field [0001] The invention designs a finite-time cooperative control method of a mechanical arm servo system, in particular a finite-time cooperative control method of a mechanical arm servo system with system model uncertainty and nonlinear dead zone input. Background technique [0002] The servo system of the manipulator has been widely used in high-performance systems such as robots and aviation vehicles. How to realize the rapid and precise control of the servo system of the manipulator has become a hot issue. However, the dead-zone nonlinear link widely exists in the servo system of the manipulator, which often leads to a decrease in the efficiency of the control system or even failure. For the control problem of the servo system of the manipulator, there are many control methods, such as PID control, adaptive control, sliding mode control, non-singular terminal sliding mode control, etc. [0003] The sliding mode control method has the advantages of simple ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 陈强汤筱晴翟双坡
Owner ZHEJIANG UNIV OF TECH
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