Adaptive non-smooth trajectory tracking control method for industrial robot

Abstract

The invention provides a control method with an adaptive ability to achieve high industrial robot trajectory tracking quality. Non-smooth control and adaptive control are combined, the system designsan adaptive non-smooth trajectory tracking control controller structure, non-smooth and adaptive control parts are organically combined, and the trajectory tracking control quality of the industrial robot is thus improved. The method has an online adaptive ability towards parameter uncertainty, and has a stronger suppression ability towards uncertain parts of models such as external disturbance.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an adaptive non-smooth trajectory tracking control method for an industrial robot. Background technique [0002] Due to the parameter uncertainty and external disturbance of industrial robots, the convergence speed of the trajectory tracking error will be slowed down, and the convergence error will increase at the same time. Therefore, in order to achieve high-quality trajectory tracking control of industrial robots, the controller needs to perform online compensation for the influence of parameter uncertainty. At the same time, the controller should have adaptive compensation for external disturbances and strong suppression capabilities. [0003] At present, there are mainly the following methods in the high-quality trajectory tracking control of industrial robots: one is to use the traditional adaptive control method to design the controller, but this type of method can e...

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Problems solved by technology

[0003] At present, there are mainly the following methods in the high-quality trajectory tracking control of industrial robots: one is to use the traditional adaptive control method to design the controller, but this type of method can eliminate the influence of parameter uncertainty, but the trajectory tracking error converges The performance of the suppression of speed and external disturbance is limited; the second is to use the sliding mode variable structure control method to design the sliding mode controller, which can make the system state invariant to parameter perturbation and external disturbance on the sliding mode surface, and It has the advantages of no need for system online identification parameters, simple physical realization, etc.

However, there are chattering problems in practical applications, so there are great difficulties in engineering applications

The third is the traditional non-smooth control. Since the non-smooth controller has a fractional power term, the closed-loop control system has better robustness, dynamic performance and anti-disturbance performance than the smooth closed-loop control system, but the system has different parameters. deterministic and external disturbances, its performance will deteriorate

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