Trajectory tracking control method based on parameter optimization and used for reconfigurable modularized flexible mechanical arm

Abstract

The invention relates to the field of control over a reconfigurable modularized flexible mechanical arm, in particular to a trajectory tracking control method based on parameter optimization and usedfor the reconfigurable modularized flexible mechanical arm. The method includes the steps that a single-joint intelligent agent flexible mechanical arm system model is established, linear combinationof a joint motor rotating angle and a flexible mode variable is used as output of a flexible mechanical arm system by utilizing the thought of redefining the output, and through input-output linearization, the single-joint flexible mechanical arm system is decomposed into an input-output subsystem and a zero-dynamic subsystem. The input-output subsystem can track an expected reference trajectory within limited time by adopting self-adaptive dynamic terminal sliding-mode control, multi-objective optimization design is carried out on design parameters lambda<0i> and lambda<1i> by adopting an NSGA-II algorithm, the zero-dynamic subsystem of the flexible mechanical arm system is asymptotically stable near a balance point, and therefore the tracking requirement of the whole flexible mechanicalarm system on the expected trajectory is met; the trajectory tracking control method has better robustness for nonlinear uncertainty of the system.

Description

technical field [0001] The invention relates to the control field of reconfigurable modularized flexible manipulators, in particular to a trajectory tracking control method of reconfigurable modularized flexible manipulators under the condition of uncertain parameters. Background technique [0002] According to the concept of module design and the theory of decentralized control of subsystems, the reconfigurable modular manipulator has standard interfaces and modules, and can change its configuration according to different task requirements under different external environments and constraints without redesigning the control system. device. In addition, the joints of the reconfigurable modular manipulator also include communication, drive, control, transmission and other units, so that the reconfigured manipulator has better adaptability to the new working environment. [0003] Many scholars have studied the dynamics and control methods of reconfigurable modular manipulator...

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Problems solved by technology

[0006] Aiming at the problems that the reconfigurable modularized flexible manipulator increases the flexibility effect of joints and connecting rods during the movement process, the structure is deformed, the accuracy of task execution is reduced, and the reusability is low. A trajectory tracking control method for reconstructing a modular flexible manipulator, which first describes the manipulator dynamics model as a collection of cross-linked subsystems, and then decomposes the system into input-output subsystems and zero dynamics by redefining the system output For the input and output subsystems, an adaptive dynamic terminal sliding mode control strategy is proposed to carry out adaptive identification of subsystem related items, system uncertain items and disturbances; the zero dynamic subsystem is approximately linearized at the equilibrium point, and the controller The design parameters adopt NSGA-II algorithm for multi-objective optimization, so that the zero dynamic subsystem is asymptotically stable near the equilibrium point, so that the reconfigurable modular flexible manipulator subsystem with strong coupling and uncertain parameters can gradually track the desired trajectory. The method can change its own configuration according to different task needs under different external environments and constraints, and does not need to redesign the controller, and has strong robustness to uncertainties in the system

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