Output restraint bearing fixed time tracking control method for mechanical arm system

A fixed-time, output-constrained technology, applied in adaptive control, general-purpose control systems, control/regulation systems, etc., can solve problems such as fixed-time trajectory tracking control of the manipulator system, and achieve good anti-interference and effectiveness , good convergence effect

Active Publication Date: 2018-11-20
QUFU NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the existing technology cannot solve the fixed-time trajectory tracking control problem of the manipulator system with output constraints, and new technologies have yet to be proposed.

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  • Output restraint bearing fixed time tracking control method for mechanical arm system
  • Output restraint bearing fixed time tracking control method for mechanical arm system
  • Output restraint bearing fixed time tracking control method for mechanical arm system

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Embodiment Construction

[0038] The present invention will be further described below in conjunction with the drawings and embodiments.

[0039] It should be pointed out that the following detailed descriptions are all illustrative and are intended to provide further explanations for the application. Unless otherwise specified, all technical and scientific terms used in this embodiment have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs.

[0040] It should be noted that the terms used here are only for describing specific implementations, and are not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate There are features, steps, operat...

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Abstract

The invention discloses an output restraint bearing fixed time tracking control method for a mechanical arm system. The method includes describing a dynamic equation of a mechanical arm system of a rigid body structure; a continuous fixed time trajectory tracking control rule is set by utilizing a barrier Lyapunov function method and a finite time control algorithm when external interference is not taken into account; designing a fixed time trajectory tracking controller according to the obtained control rule so as to enable a state trajectory of the dynamic equation of the mechanical arm system to track a preset expected trajectory in a fixed time and to prevent tracking errors during a control process from surpassing a preset boundary; and performing tracking control by utilizing the fixed time trajectory tracking controller. The method provided by the invention has good convergence and good interference immunity.

Description

Technical field [0001] The invention relates to a fixed time tracking control method of a mechanical arm system with output constraints. Background technique [0002] Although the robotic arm system is not as flexible as the human hand, it has the characteristics of being able to repeatedly work and labor, not being tired, not afraid of danger, and having greater power to lift heavy objects than a human hand. Therefore, the robotic arm has been valued by many departments. It is more and more widely used. For example, the loading and unloading of workpieces processed by machine tools, especially in automatic lathes and modular machine tools, is more common; it is widely used in assembly operations. It can be used to assemble printed circuit boards in the electronics industry, and it can be used in the machinery industry. To assemble parts; it can work in poor working conditions, monotonous and repetitive and easy to fatigue working environment to replace human labor; it can work ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02
CPCG05B13/024
Inventor 张中才武玉强曹佃国孙玉亮程文莉
Owner QUFU NORMAL UNIV
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