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

A disturbance observer and event-triggered technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as no solution.

Active Publication Date: 2019-09-20
GUANGDONG UNIV OF TECH
View PDF8 Cites 13 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 sa

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Input saturation multi-single-arm manipulator event triggering control method based on disturbance observer
  • Input saturation multi-single-arm manipulator event triggering control method based on disturbance observer
  • Input saturation multi-single-arm manipulator event triggering control method based on disturbance observer

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0081] This embodiment proposes an event-triggered control method for multi-single-arm manipulators based on Lyapunov stability analysis based on Lyapunov stability analysis. This method first designs a disturbance observer to observe unknown disturbances, and then combines dynamic surface control and self-adaptive The control signal is designed by the backstepping method; secondly, the relative threshold event trigger control strategy is used to solve the problem of limited communication resources, and a saturation compensation system is introduced to reduce the impact of input saturation; finally, the Lyapunov stability theorem is used to prove that all signals of the closed-loop system are globally consistent and ultimately Bounded and uniform tracking errors converge to a compact set near the origin. The simple implementation of the formula is illustrated in the accompanying drawings, but it does not represent a specific implementation, nor is it limited to this implementat...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1653B25J9/1661
Inventor 周琪陈广登李鸿一鲁仁全白伟伟
Owner GUANGDONG UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap