Robust sliding mode adaptive control method for manipulator system

Abstract

The invention discloses a robust sliding mode adaptive control method for a manipulator system with progressive tracking performance, which belongs to the field of manipulator control. The control method takes into account structural uncertainties such as parameters of the manipulator system and non-structural uncertainties such as external disturbances, and a parameter estimator is designed for the structural uncertainties such as the parameters; and a continuous robust controller is designed for an upper bound of the non-structural uncertainties such as the external disturbances. The robustadaptive controller designed in the method has good effects on the manipulator system with the structural uncertainties such as the parameters and the non-structural uncertainties such as the external disturbances at the same time, and the position tracking performance of the manipulator system can be ensured. The robust sliding mode adaptive controller is simple and continuous in control outputand is applicable in engineering practice.

Description

technical field The invention relates to the field of manipulator control, in particular to a robust sliding mode adaptive control method for a manipulator system. Background technique The manipulator system is a multi-input multi-output, highly nonlinear, and strongly coupled complex system. Because of its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof fields, such as painting robots, spot welding robots, bomb disposal robots, etc. Due to the complexity of the manipulator system, there will be many modeling uncertainties in the process of controller design, including structural uncertainty and non-structural uncertainty. These factors will seriously affect the performance of the controller, resulting in the control accuracy of the controller. reduce, and even make the designed controller unstable, thus increasing the difficulty of controller design. With the continuous advancement of the technical level in the i...

AI Technical Summary

Problems solved by technology

In order to solve the uncertain nonlinear problem in the control of the manipulator system, the present invention further proposes a robust sliding mode adaptive control method for the manipulator

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