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Manipulator Trajectory Tracking Method Based on Fractional Order Adaptive Nonsingular Terminal Sliding Mode

A non-singular terminal and trajectory tracking technology, applied in the direction of adaptive control, instrumentation, control/adjustment system, etc., can solve the problems that the system cannot achieve the ideal sliding mode, large chattering of the controller, long response time, etc., and achieve expansion The effect of performance adjustment range, efficiency improvement and robustness improvement

Active Publication Date: 2020-03-24
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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  • Manipulator Trajectory Tracking Method Based on Fractional Order Adaptive Nonsingular Terminal Sliding Mode
  • Manipulator Trajectory Tracking Method Based on Fractional Order Adaptive Nonsingular Terminal Sliding Mode
  • Manipulator Trajectory Tracking Method Based on Fractional Order Adaptive Nonsingular Terminal Sliding Mode

Examples

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Embodiment

[0046] figure 1 It is a flow chart of the trajectory tracking method of the manipulator based on the 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 robot arm, that is, trajectory tracking is performed on six joint angles of the robot arm. Combine below figure 1, a method for tracking the trajectory of a manipulator based on a fractional-order adaptive non-singular terminal sliding mode of the present invention is described in detail, which specifically includes the following steps:

[0048] S1. According to the specific task requirements, set the expected six-degree-of-freedom manipulator end pose sequence information as P, P∈R 4 ×4 is a homogeneous transformation matrix, and the terminal pose information P is solved by the inverse kinematics of the manipulator to the expected joint angle q of each joint d ,q d ∈ R 6 and q d =[q...

example

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

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

[0088] The expected 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 manipulator 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 ...

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Abstract

The invention discloses a trajectory tracking method of a manipulator based on a fractional-order self-adaptive non-singular terminal sliding mode. By designing the switching control of the self-adaptive rate of the uncertain upper bound and the fractional-order self-adaptive non-singular terminal sliding mode, the system The state converges to the sliding mode surface faster, and then through the sliding mode characteristic of the non-singular terminal sliding mode surface, the system state converges to the equilibrium point faster in a limited time, that is, the tracking error converges to 0, so as to realize the desired Tracking of joint angle trajectories.

Description

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

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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