Flexible manipulator composite control method based on output redefinition

A flexible manipulator and composite control technology, applied in manipulators, adaptive control, general control systems, etc., can solve problems such as unfavorable engineering applications, ignoring non-minimum phase characteristics, etc., and achieve the effect of comprehensive feedback information

Active Publication Date: 2018-08-10
XIAN AIRCRAFT DESIGN INST OF AVIATION IND OF CHINA
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Problems solved by technology

However, in order to simplify the algorithm, the article concentrates the flexibility of the system on the joints of the manipulator, and assumes the connecting rod of the flexible manipulator as a

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  • Flexible manipulator composite control method based on output redefinition
  • Flexible manipulator composite control method based on output redefinition
  • Flexible manipulator composite control method based on output redefinition

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[0052] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below in conjunction with the drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the invention. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below ...

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Abstract

The invention discloses a flexible manipulator composite control method based on output redefinition, which is a flexible manipulator control strategy based on output redefinition combined with compound learning and disturbance observation, belongs to the field of robot control, and is used for solving the existing problem that the joint angle cannot be controlled with high precision by the flexible manipulator under the influence of external disturbance and internal unknown information. The method adopts the output redefinition processing system dynamics equation to make the system achieve zero dynamic stability; a disturbance observer is designed to process disturbance terms due to external disturbance and joint friction; and a composite learning control algorithm is designed to construct system modeling errors, and the adaptive updating law including the modeling errors of the RBF neural network design is further combined. The interaction between disturbance observation and compoundlearning realizes a more comprehensive estimation of system uncertain information, which is suitable for engineering high-precision control.

Description

technical field [0001] The invention designs a control strategy combining compound learning and disturbance observation based on the flexible manipulator model obtained by redefining the output, and belongs to the field of robot control. Background technique [0002] Due to its light weight, fast speed, and large operating range, the flexible manipulator has become the focus of manipulator research at this stage. However, due to its structural elasticity, deformation and vibration will occur during the movement, making the system zero dynamic instability, that is, The non-minimum phase characteristics of the model further lead to system instability. [0003] The existing flexible manipulator control method decouples the system model into separate control of internal and external subsystems, and many control methods for external subsystems have been applied. Proportional-derivative control is less robust, and the controller is more fragile; both adaptive control and robust c...

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Application Information

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IPC IPC(8): G05B13/04B25J9/16
CPCB25J9/163G05B13/027G05B13/045G05B13/048
Inventor 张琪
Owner XIAN AIRCRAFT DESIGN INST OF AVIATION IND OF CHINA
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