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Multi-joint industrial mechanical arm backstepping finite time sliding mode control method

An industrial machinery, time-limited technology used in adaptive control, general control systems, control/regulation systems, etc.

Active Publication Date: 2018-11-13
HUANGSHAN UNIV
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  • Abstract
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Problems solved by technology

[0004] The purpose of the present invention is to provide a multi-joint industrial mechanical arm backstep limited time sliding mode control method to solve the problems existing in the prior art mechanical arm control method

Method used

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  • Multi-joint industrial mechanical arm backstepping finite time sliding mode control method
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  • Multi-joint industrial mechanical arm backstepping finite time sliding mode control method

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Embodiment Construction

[0064] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0065] like figure 1 — Figure 5 As shown, the multi-joint industrial manipulator backstepping finite-time sliding mode control method is characterized in that it includes the following steps:

[0066] (1) Establish a multi-joint industrial manipulator system model, the specific process is as follows:

[0067] For the n-joint industrial manipulator system, if the influence of dynamics, friction and disturbance is considered, the dynamic model can be expressed as:

[0068]

[0069] In formula (1), represent the position, velocity and acceleration vector of the joint respectively; M(q)∈R n×n is the positive definite inertia matrix of the system; is the centrifugal force and Coriolis force matrix; G(q)∈R n is the gravity term vector acting on the joint; τ∈R n is the control torque vector, which represents the driving torque acting on each joint...

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Abstract

The invention discloses a multi-joint industrial mechanical arm backstepping finite time sliding mode control method considering system sum disturbance. The multi-joint industrial mechanical arm backstepping finite time sliding mode control method includes the steps: establishing a multi-joint industrial mechanical arm system model; designing a system three-order expansion state observer for accurately estimating the system sum disturbance item; based on system sum disturbance estimation, and for the system model (2), performing system backstepping finite time sliding mode control rule designby combining the backstepping design idea and the finite time sliding mode technology. The multi-joint industrial mechanical arm backstepping finite time sliding mode control method has strong robustness for nondeterminacy factors, such as model parameter perturbation and external bounded disturbance, and can guarantee fast and stable finite time tracking control of the desired trajectory of the system, so that the designed control method is convenient for application in practical engineering.

Description

technical field [0001] The invention relates to the field of mechanical arm control methods, in particular to a multi-joint industrial mechanical arm backstepping limited-time sliding mode control method. Background technique [0002] In recent years, with the advancement of manufacturing technology and the increase of labor costs, industrial robotic arms have been widely used in various fields of industrial production, playing an increasingly important role. In the practical application of industrial manipulators, it is often required to track the desired trajectory quickly and accurately, so as to complete the prescribed tasks. However, in the actual industrial field environment, the industrial manipulator system is usually affected by uncertain factors such as model parameter perturbation and external disturbances, such as load changes, friction torque disturbances, and system external disturbances. Therefore, realizing fast and high-precision tracking control of industr...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/045
Inventor 郭一军赵年顺孙剑胡明亮
Owner HUANGSHAN UNIV
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