A full-order sliding mode control method for manipulator servo system based on extended state observer

Abstract

The invention discloses a mechanical arm servo system full-order slide mold control method based on an extended state observer. The method comprises the following steps: establishing a dynamic model of a mechanical arm servo system, and initializing a system state and control parameters; designing the extended state observer; and based on the extended state observer, designing a full-order slide mold controller. The invention provided by the invention can effectively improve the problem of slide mold buffeting of conventional slide mold control in the mechanical arm servo system, improves the robustness of the system to a certain degree and enables the mechanical arm servo system to realize accurate tracking control.

Description

technical field

[0001] The invention relates to a full-order sliding mode control method of a manipulator servo system based on an extended state observer, in particular to a full-order sliding mode control method of a manipulator servo system whose system state and uncertain items are unknown. Background technique

[0002] The servo system of the manipulator has been widely used in high-tech fields such as robotics and aerospace. As an important performance index for the servo system of the manipulator to complete the specified operation task, the motion accuracy has become a hot research topic for scholars at home and abroad. Aiming at how to effectively improve the motion precision of the system, various control methods have been proposed at home and abroad, including PID control, adaptive control, sliding mode control and robust control. Among them, the sliding mode control has the advantages of simple algorithm, insensitivity to external disturbance and parameter pertur...

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