A high-precision trajectory tracking control method for a model-uncertain dual-joint manipulator

A trajectory tracking and manipulator technology, applied in the field of variable universe fuzzy control

Inactive Publication Date: 2019-12-27
SOUTHWEST PETROLEUM UNIV
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  • Application Information

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Problems solved by technology

[0003] In order to solve the shortcomings of traditional control and ordinary fuzzy control in manipulator control, this invention introduces the idea of ​​variable universe on the basis of ordinary fuzzy control, and realizes the purpose of variable universe by introducing expansion factors into input variables , an adaptive fuzzy controller is designed for a model-uncertain dual-joint manipulator

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  • A high-precision trajectory tracking control method for a model-uncertain dual-joint manipulator
  • A high-precision trajectory tracking control method for a model-uncertain dual-joint manipulator
  • A high-precision trajectory tracking control method for a model-uncertain dual-joint manipulator

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Embodiment Construction

[0010] figure 1 In the variable universe fuzzy control block diagram of the dual-joint manipulator shown, the controlled object is a dual-joint manipulator, so two variable universe fuzzy controllers with the same structure are used to control the trajectory tracking of the two joints respectively. For multi-joint manipulators, the number of controllers can be determined according to the number of joints, and each joint needs one controller. The variable universe fuzzy controller adopts a two-dimensional fuzzy controller with double input and single output, in which the input variables are the deviation and the rate of change of the deviation, and the output variable of the controller is the control torque of the manipulator joints.

[0011] figure 1 The double-joint manipulator in , its dynamic model is:

[0012]

[0013] where q∈R n is the joint angular displacement, M(q)∈R n×n is the inertia matrix of the manipulator, Represents centrifugal force and Coriolis force...

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Abstract

The invention discloses a high-precision path tracking control method for uncertain-model double-joint mechanical arms. Traditional controllers are usually designed according to design methods based on controlled object models, but the methods are difficult to apply practically due to difficulty in acquisition of precise mathematic models of mechanical arms in practical engineering. Design of fuzzy controllers does not require the precise mathematic models of controlled objects, so that the fuzzy controllers are especially suitable for control of uncertain-model mechanical arms; however, the fuzzy controllers are low in control precision due to limited control rules. By introduction of a variable universe concept on the basis of fuzzy control, high-precision path tracking control method for the mechanical arms is realized. The control method is high in adaptability, robustness, antijamming capability and control precision, the problem of control difficulty caused by coupling influences among joints can be solved, and the method is high in value of application to uncertain-model multi-joint mechanical arms.

Description

technical field [0001] The invention relates to a variable universe fuzzy control method, which is used for trajectory tracking control of a model-indeterminate double-joint manipulator. Background technique [0002] Manipulator trajectory tracking is an operation process that controls the position, speed and other variables of each joint to follow the given trajectory change with high precision through the output driving torque of the controller of each joint, so that the manipulator can achieve the desired ideal path. The design of the traditional controller usually adopts the design method based on the controlled object model. By establishing the dynamic equation of the manipulator, the control law is designed according to the traditional control theory. In practical applications, it is very difficult to obtain an accurate mathematical model of the manipulator due to uncertain factors such as the load mass, the center of mass of the connecting rod, the dynamic / static fric...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 万敏吴晓航陈鲲鹏陈海锋李晓霞杨腾宇朱耀
Owner SOUTHWEST PETROLEUM UNIV
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