Multi-single-arm manipulator output consistence controller with pre-defined performance and design method thereof

Abstract

The invention relates to a multi-single-arm manipulator output consistence active disturbance rejection controller structure with pre-defined performance and a design method thereof, in particular toa multi-single-arm manipulator output consistence active disturbance rejection controller, and belongs to the technical field of industrial process control. The active disturbance rejection technologyand the inversion technique are used for designing the multi-single-arm manipulator output consistence active disturbance rejection controller, the characteristic that extension state observers do not rely on a system model is utilized, and the influence of disturbance can be estimated and compensated in real time, so that the designed controller has the anti-disturbing property; tracking differentiators are designed to simplify the phenomenon of complex signal derivation of "explosion"; a manipulator system is restrained by a driving torque, the input saturation characteristic is considered,and the amplitude limiting problem of the driving torque is solved by an auxiliary system; the convergence speed and accuracy of the output consistence error are improved by using a pre-defined performance function; and according to the designed scheme, the unknown dynamic of the system can be effectively estimated, the derivation is simplified, and the control precision is improved.

Description

technical field [0001] The invention relates to a multi-single-arm manipulator output consistent controller with predefined performance and a design method thereof, belonging to the technical field of industrial process control. Background technique [0002] With the continuous development of science and technology, multi-single-arm manipulators appear as a powerful tool in modern assembly line production work. The single-arm manipulator has the limitations of poor flexibility and low efficiency. In the relatively large handling, installation, maintenance and welding work, the single-arm manipulator has shown certain limitations in some aspects such as information collection, control and processing, and Because the multi-single-arm manipulator has strong coordination operation flexibility and large load capacity, it can complete tedious and diverse task requirements. Therefore, it is of great significance to study the multi-single-arm manipulator cooperation system, especial...

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Problems solved by technology

[0005] The purpose of the present invention is to address the defects in the prior art, to propose a multi-single-arm manipulator output consistency controller with predefined performance and its design method, aiming at the expansion state observer not relying on the accurate multi-single-arm manipulator model Features, through the extended state observer to estimate and compensate the unknown dynamics of the system in real time, so that the designed output consistent controller has the characteristics of anti-disturbance; design the tracking differentiator to estimate the derivative of the complex nonlinear function and the derivative of the unknown function; use the predictive Set the performance function to improve the convergence speed and accuracy of the output consistent error; it can effectively estimate the unknown dynamics in the control system, avoid "explosive" derivation process and control accuracy and other problems

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