Saturation Compensation Control Method of Manipulator System Based on Neural Network Dynamic Surface Sliding Mode Control

A technology of neural network and control method, applied in the field of manipulator system saturation compensation control, which can solve the problems of complexity explosion, ineffective saturation compensation of manipulator servo system, uncertainty of model parameters, etc.

Active Publication Date: 2017-12-05
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0005] In order to overcome the shortcomings of the existing mechanical arm servo system, such as ineffective saturation compensation, model parameter uncertainty, and complexity explosion caused by the inversion method, the present invention provides a dynamic surface sliding mode control based on neural network. The saturation compensation control method of the manipulator system simplifies the design structure of the controller, realizes the position tracking control of the manipulator system with saturation input, and ensures the stable and fast tracking of the system

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  • Saturation Compensation Control Method of Manipulator System Based on Neural Network Dynamic Surface Sliding Mode Control
  • Saturation Compensation Control Method of Manipulator System Based on Neural Network Dynamic Surface Sliding Mode Control
  • Saturation Compensation Control Method of Manipulator System Based on Neural Network Dynamic Surface Sliding Mode Control

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[0088] The present invention will be further described below in conjunction with the accompanying drawings.

[0089] refer to Figure 1-Figure 5 , a control method for saturation compensation of a manipulator system based on neural network dynamic surface sliding mode control, comprising the following steps:

[0090] Step 1, establish the dynamic model of the servo system of the manipulator, initialize the system state, sampling time and control parameters, the process is as follows:

[0091] 1.1 The expression form of the dynamic model of the manipulator servo system is

[0092]

[0093] Among them, q and θ are the angles of the manipulator connecting rod and the motor, respectively; g is the acceleration of gravity; I is the inertia of the connecting rod; J is the inertia of the motor; K is the spring stiffness coefficient; length; u is the control signal; v(u) is saturation, expressed as:

[0094]

[0095] Where sgn(u) is an unknown nonlinear function; v max is th...

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Abstract

A control method for saturation compensation of a manipulator system based on neural network dynamic surface sliding mode control, including: establishing a dynamic model of the manipulator servo system, initializing the system state, sampling time and control parameters; according to the differential mean value theorem, the Nonlinear input saturation linearization processing, derivation of the manipulator servo system model with unknown saturation; based on the dynamic surface sliding mode control method, the tracking error, sliding mode surface and differential of the control system are calculated. The invention provides a neural network dynamic surface sliding mode control method capable of effectively compensating for unknown saturation and avoiding the complexity explosion problem caused by the inversion method, so as to realize stable and fast tracking of the system.

Description

technical field [0001] The invention relates to a control method for manipulator system saturation compensation based on neural network dynamic surface sliding mode control, in particular to a control method for a manipulator servo system with input saturation constraints. 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 fast and precise control of the servo system of the manipulator has become a hot issue. The trajectory tracking control system of the robot arm and the problem of the flexible robot arm have received more and more attention. However, the unknown saturated 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. Therefore, the constraint of input saturation must be considered during the controller design process. For the control problem ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 陈强施琳琳
Owner ZHEJIANG UNIV OF TECH
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