Input saturation multi-single-arm manipulator event triggering control method based on disturbance observer

Abstract

The invention discloses an input saturation multi-single-arm manipulator event triggering control method based on a disturbance observer. The input saturation multi-single-arm mechanical arm event triggering control method based on the disturbance observer is characterized in that firstly, the disturbance observer is designed to observe unknown disturbance, then the influence caused by the disturbance can be effectively compensated, a self-adaptation law is designed to estimate unknown parameters online, input is controlled by combining dynamic surface control and self-adaptation contragradience method design, and the problem of "calculation explosion" existing in a traditional contragradience method is solved; secondly, a distributed relative threshold value event triggering control strategy is adopted to relieve the communication burden among manipulators, the energy consumption of a system is reduced, moreover, a saturation compensation system is introduced, so that the situation that control performance is not ideal during input saturation of the manipulator system is prevented; and according to the design scheme, unknown external disturbance can be effectively observed, the calculation steps of the controller design process are simplified, the requirement for communication resources is prevented from being lowered, and it is guaranteed that the manipulators can effectively track a given signal.

Description

technical field [0001] The invention relates to the technical field of artificial intelligence and control, in particular to an event-triggered control method for an input-saturated multi-single-arm manipulator based on a disturbance observer. Background technique [0002] Since the 1960s, manipulators have been used in a wide range of fields, such as machining, spot welding, assembly, testing, and aerospace. Especially in industrial automation production lines, industrial manipulators occupy an important position. [0003] Among them, the operating conditions of construction machinery are usually relatively harsh. Since the working environment of construction manipulators is very complicated and their own hardware performance is limited, in order to ensure their safe and reliable work, improve construction quality and work efficiency, it is necessary to carry out accurate control design for them. very necessary. [0004] However, with the continuous expansion of the appli...

AI Technical Summary

Problems solved by technology

Since both input saturation and event triggering directly affect the control input, if unknown disturbances are considered at the same time, it will bring great challenges to the design of an effective controller. According to research, there is no better solution.

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