Single-arm mechanical arm self-adaptation controller and control method based on output position

Abstract

The invention discloses a single-arm mechanical arm self-adaptation controller and control method based on the output position. The controller comprises a first comparator unit, an observer unit, a backstepping first updating unit, a backstepping first approaching unit, a backstepping first arithmetic unit, a second comparator unit, a backstepping first sub-controller unit, a third comparator unit, a fourth comparator unit, a backstepping second updating unit, a backstepping second approaching unit, a backstepping second arithmetic unit, a fifth comparator unit, a backstepping second sub-controller unit, an ADP updating unit, an ADP approaching unit, an ADP arithmetic unit, an ADP first sub-controller unit, an ADP second sub-controller unit and a sixth comparator unit. According to the single-arm mechanical arm self-adaptation controller and control method based on the output position, the stability of a single-arm mechanical arm is guaranteed, meanwhile, the performance index of a system is reduced, the control cost of the system is reduced, and high use and popularization value is achieved.

Description

technical field [0001] The invention relates to a controller and a control method, in particular to an output position-based single-arm manipulator adaptive controller and a control method, belonging to the field of industrial process control. Background technique [0002] As an important measurable output, the joint angular displacement of the single-arm manipulator is one of the frequently used control quantities in the single-arm manipulator system. In the past ten years, a large number of scholars have begun to study the control problem of single-arm manipulators. Among them, the performance index function is an important function to evaluate the performance of the single-arm manipulator system. The optimization of the performance index function is the current single-arm manipulator. An important design goal of the controller. [0003] Specifically, the current research on the control of single-arm manipulator systems has achieved the following progress and correspondin...

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