Periodic adaptive learning control method of input saturation mechanical arm system
A technology of adaptive learning and control method, applied in the field of periodic adaptive learning control
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[0080] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0081] For the strongly coupled, nonlinear and time-delay manipulator periodic system with many uncertainties in the form of formula (1), x 1 (t) and x 2 (t) are the rotation angle and angular velocity of the mechanical arm respectively, the parameter mass of the mechanical arm is m=3kg, the length of the mechanical arm is l=1m, and the coefficient of inertia J m =ml 2 , gravitational acceleration g=10m / s 2 ,when When it is external disturbance, z(t)=|cos(2t)|, system period T=2π. Torque saturation input υ(t)=f(t), and the saturation boundary υ max =0.8, υ min =-0.8, at this time the manipulator system can be rewritten as formula (2) in the form:
[0082]
[0083] The structure diagram of the control system of the inventive method is as figure 1 shown. Design according to the tracking controller of formula (7) and (8) form according to the ...
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