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Self-adaption limited time command filtering backstepping control method of multi-mechanical-arm system

A limited-time, backstepping control technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., to solve problems such as synchronous control of multi-manipulator systems with uncertain parameters

Active Publication Date: 2019-09-03
QINGDAO UNIV
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Problems solved by technology

[0018] The purpose of the present invention is to propose an adaptive finite time command filter backstepping control method for a multi-manipulator system to solve the problem of synchronous control of multi-manipulator systems with uncertain parameters

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Embodiment Construction

[0142] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0143] Such as figure 1 As shown, the adaptive finite-time command filter backstepping control method for a multi-manipulator system includes the following steps:

[0144] It is assumed that the multi-manipulator system has N follower manipulators and M leader manipulators.

[0145] Among them, following the manipulator set υ F ={1,...,N}, leader manipulator set υ L ={N+1,...,N+M}.

[0146] The communication topology relationship between N follower manipulators and M leader manipulators is defined by a directed graph express.

[0147] Among them, node set υ={1,2,...,N+M}, edge set

[0148] Define the adjacency matrix A=[a mn ]∈R (N+M)×(N+M) .

[0149] Among them, a mn Indicates the weight of the edge, R (N+M)×(N+M) Indicates that the matrix dimension is (N+M)×(N+M) dimension.

[0150] If there is a directed edge (m,n)∈ε, node n is...

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Abstract

The invention discloses a self-adaption limited time command filtering backstepping control method of a multi-mechanical-arm system. The method comprises the steps of establishing a limited time command filter, a virtual control signal, a self-adaption updating rule, an error compensation mechanism and the like. By means of the method, the computing complexity problem caused by a traditional backstepping method can be avoided, and the effect that when a system contains uncertain parameters and unknown dynamic states, the set tracking error limited time is converged into an expected neighborhood can be guaranteed. In addition, errors generated by the command filter can be eliminated by utilizing an error compensation signal, and the control performance is further improved. Due to the fact that the virtual signal and the error compensation mechanism only use the neighborhood information of each mechanical arm, the method is completely distributed, and simulation results further indicatesthe effectiveness of the method.

Description

technical field [0001] The invention relates to a self-adaptive finite time command filter backstep control method of a multi-manipulator system. Background technique [0002] Coordinated control of multi-machine systems is regarded as an important research field due to its advantages of low cost, high efficiency, and versatility in industrial applications. Synchronization problems are of great significance in the cooperative control of multi-machine systems. [0003] Existing synchronization control methods for multi-machine systems are mainly suitable for solving the synchronization problem without a leader or the synchronization problem between a leader and a follower. In recent years, there has been increasing interest in building submissive control protocols for different mechanical systems that guarantee that the states of the followers eventually converge in the convex hull formed by the states of the leader. For example, Document 1 studies the containment control of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1612B25J9/1628B25J9/1669
Inventor 赵林于金鹏孟凡丰
Owner QINGDAO UNIV
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