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Mechanical arm trajectory tracking method based on fractional-order adaptive nonsingular terminal sliding mode

A non-singular terminal and trajectory tracking technology, which is applied in the direction of adaptive control, instruments, control/regulation systems, etc., can solve the problems that the system cannot achieve the ideal sliding mode, the controller has large chattering, and the tracking error is large, etc., to achieve the expansion The effect of performance adjustment range, efficiency improvement and robustness improvement

Active Publication Date: 2018-04-20
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the frequent switching of the control structure during the control process, the output of the controller has a large chattering phenomenon, resulting in the system not being able to achieve the ideal sliding mode.
Based on the chattering problem, many advanced methods have been proposed, for example, boundary layer method, sliding mode area method, approach rate method, etc., which can overcome or reduce chattering to a certain extent, but all take longer The response time or tracking error is relatively large

Method used

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  • Mechanical arm trajectory tracking method based on fractional-order adaptive nonsingular terminal sliding mode
  • Mechanical arm trajectory tracking method based on fractional-order adaptive nonsingular terminal sliding mode
  • Mechanical arm trajectory tracking method based on fractional-order adaptive nonsingular terminal sliding mode

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Embodiment

[0046] figure 1 It is a flow chart of the trajectory tracking method of a mechanical arm based on a fractional-order adaptive non-singular terminal sliding mode of the present invention.

[0047] In this embodiment, the present invention is applied to the control of a six-degree-of-freedom manipulator, that is, the six joint angles of the manipulator are tracked. Combine below figure 1 , A detailed description of the trajectory tracking method of a manipulator based on a fractional-order adaptive non-singular terminal sliding mode of the present invention, which specifically includes the following steps:

[0048] S1. According to specific task requirements, set the desired end pose sequence information of the six-degree-of-freedom manipulator as P, P∈R 4 ×4 It is a homogeneous transformation matrix, and the end pose information P is calculated by the inverse kinematics of the manipulator into the expected joint angle q of each joint d , Q d ∈R 6 And q d =[q d1 ,q d2 ,...,q d6 ] T...

example

[0086] In this example, we first verify the feasibility of the fractional-order adaptive terminal sliding mode controller proposed in the present invention, and then compare and analyze different fractional orders. The parameters used in the simulation are described below.

[0087] Suppose there are twelve states x ∈ R in the six-degree-of-freedom manipulator system 12 And

[0088] The desired trajectory of each joint angle is:

[0089] q d1 =3.25-(7 / 5)e -t +(7 / 20)e -4t , Q d2 =1.25+e -t -(1 / 4)e -4t , Q d3 =1.25-(6 / 5)e -t +(6 / 20)e- 4t , Q d4 =3.25-e- t +(5 / 20)e -4t , Q d5 =0.25-(4 / 5)e -t +(4 / 20)e -4t , Q d6 =4.25-(3 / 5)e -t +(3 / 20)e -4t .

[0090] The initial state of the robotic arm system is selected as:

[0091] q i (0) = 0.3491, (i = 1, 2, 4, 5, 6), q 3 (0)=3,

[0092] The external interference term is: τ di =0.02sin(t),i=1,3,4,5,6,τ d2 =0.1cos(2t).

[0093] For the controller proposed in the present invention, the parameters are selected as:

[0094] β=diag(30,30,30,30,30,30), γ=di...

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Abstract

The invention discloses a mechanical arm trajectory tracking method based on a fractional-order adaptive nonsingular terminal sliding mode. By designing switching control of uncertainty upper bound adaptive rate and the fractional-order adaptive nonsingular terminal sliding mode, the system state is allowed to converge to a sliding mode surface faster; and through sliding mode features of the nonsingular terminal sliding mode surface, the system state is allowed to converge to a balance point faster in a limited time, that is, tracking error is converged to 0, thereby realizing tracking of expected joint angle trajectory.

Description

Technical field [0001] The invention belongs to the technical field of six-degree-of-freedom robotic arm trajectory tracking, and more specifically, relates to a robotic arm trajectory tracking method based on a fractional-order adaptive non-singular terminal sliding mode. Background technique [0002] With the continuous improvement of the robot industry level, the robotic arm has been widely used in the field of automation, such as aerospace and other large-scale equipment manufacturing and testing, medical surgery, industrial production, etc. However, the absolute positioning accuracy of the robotic arm cannot meet some high-precision automated production requirements, and the robotic arm is a complex system with characteristics such as nonlinearity, uncertainty, incomplete modeling, and cross-coupling, and it performs accurate trajectory tracking. is very difficult. In order to meet the higher accuracy trajectory tracking requirements, it is necessary to design a more precis...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 程玉华殷春周静张博薛建宏时晓宇胡彬杨
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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