Adaptive terminal sliding-mode controller based mechanical arm trajectory tracking control method

Abstract

The invention discloses an adaptive terminal sliding-mode controller based mechanical arm trajectory tracking control method. The method includes the following steps: 1, establishing a rigid mechanical arm system dynamics model having n degrees of freedom rotating joints; 2, obtaining the measuring information of each joint angle q and angular velocity which is shown in the description of a mechanical arm through a photoelectric encoder, setting the expected angle q<d> and expected angular velocity which is shown in the description tracked by each joint, and calculating mechanical arm trajectory tracking errors [epsilon]1 = q - q<d> and the first derivative shown in the description of trajectory tracking error versus time; 3, establishing a novel non-singular terminal sliding-mode surface s according to the [epsilon]1 and [epsilon]2; and 4, designing the controlling moment tau of the driving motor of each joint of the mechanical arm according to the sliding-mode surface s, and establishing an adaptive rate which can adjust control gain to dynamically estimate system lumped disturbance upper bound. Under the circumstance that internal and external interference such as parameter perturbation and torque disturbance existing in the mechanical arm system, the method can perform real-time feedback so as to realize the accurate controlling of mechanical arm trajectory tracking based on the measuring information of each joint angle and angular velocity, and the controlling on the robustness of the whole course can be guaranteed.

Description

technical field [0001] The invention belongs to the field of industrial robot control, and in particular relates to a tracking control method of a manipulator based on an adaptive terminal sliding mode controller. Background technique [0002] In recent years, the robot industry has developed rapidly, and the scope of application involves various aspects of military and civilian use, such as drone shooting, sweeping robots and painting robotic arms, etc., which can be said to be closely related to people's lives. As a typical system of robot system, the control of industrial manipulator has attracted more and more attention from academia, and has become a research hotspot in the industry. The industrial manipulator system is a complex control system with uncertain nonlinear disturbance items such as system parameter perturbation, external torque disturbance, time-varying friction force, etc. It is difficult to obtain an accurate system model. research difficulty. The class...

AI Technical Summary

Problems solved by technology

On the other hand, chattering caused by high-frequency switching control is another major constraint

It will cause huge wear and tear on the control device, seriously affect the service life of the controller, and excessive chattering will even affect the stability of the system

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