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A finite-time parameter identification and position synchronization control method for multi-manipulator systems based on cross-coupling

A time-limited, cross-coupling technology, used in adaptive control, general control systems, control/regulation systems, etc., and can solve problems such as poor synchronous control performance and low parameter identification accuracy

Active Publication Date: 2021-05-18
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0005] In order to overcome the shortcomings of low parameter identification accuracy and poor synchronization control performance of the existing multi-manipulator system, the present invention provides a multi-manipulator based on cross-coupling finite-time online adaptive parameter identification algorithm and finite-time synchronization control method

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  • A finite-time parameter identification and position synchronization control method for multi-manipulator systems based on cross-coupling
  • A finite-time parameter identification and position synchronization control method for multi-manipulator systems based on cross-coupling
  • A finite-time parameter identification and position synchronization control method for multi-manipulator systems based on cross-coupling

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Embodiment Construction

[0072] The present invention will be further described below in conjunction with the accompanying drawings.

[0073] refer to Figure 1-Figure 7 , a method for finite-time parameter identification and position synchronization control of a multi-manipulator system based on cross-coupling, the control method comprising the following steps:

[0074] Step 1, establish multi-manipulator dynamic model;

[0075] A multi-manipulator dynamic system model consisting of n m-joints is expressed in the following form:

[0076]

[0077] where n is the number of manipulators, m is the number of joints of each manipulator, are respectively the joint angle position vector, velocity vector and acceleration vector of the mechanical arm, M(q)=diag([M 1 (q) … M n (q)]) is the positive definite inertia matrix of the manipulator, represents the centrifugal force and the Coriolis force matrix, is the gravity vector acting on the joint, Enter the torque vector for the joint control;

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Abstract

A finite-time parameter identification and position synchronization control method for a multi-manipulator system based on cross-coupling, comprising the following steps: Step 1, establishing a multi-manipulator system model; Step 2, defining multi-manipulator tracking error, synchronization error and cross-coupling error ; Step 3, design adaptive finite-time parameter estimation law and controller. The parameter identification and synchronous control scheme designed by the present invention has good identification and control effects on the multi-manipulator system, enables the multi-manipulator system to realize high-precision parameter identification and has good tracking performance and synchronization performance.

Description

technical field [0001] The invention relates to a cross-coupling-based online self-adaptive finite time parameter identification and position synchronization control method for multi-manipulator arms. Background technique [0002] With the rapid development of modern technology and the continuous improvement of industrial automation, multi-manipulator systems are playing an increasingly important role. Compared with the single-arm system, the multi-arm system has higher reliability, greater flexibility and carrying capacity, and can complete more complex tasks at the same time. Since the multi-manipulator system is easily affected by external disturbances, friction and other factors, high-precision control is relatively difficult. Therefore, how to improve the parameter identification and synchronous control performance of multi-manipulators is a research hotspot in the existing industrial control. [0003] For control systems with unknown or unmeasurable parameters, adapt...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强高苗苗南余荣陶亮
Owner ZHEJIANG UNIV OF TECH
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