Observer-based adaptive command filter control method for output consistency of multi-single-arm manipulator

A filter control, manipulator technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of control system efficiency reduction and failure, etc.

Active Publication Date: 2019-09-24
GUANGDONG UNIV OF TECH
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  • Claims
  • Application Information

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Problems solved by technology

However, the unknown dead zone that widely exists in the manipulator s...

Method used

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  • Observer-based adaptive command filter control method for output consistency of multi-single-arm manipulator
  • Observer-based adaptive command filter control method for output consistency of multi-single-arm manipulator
  • Observer-based adaptive command filter control method for output consistency of multi-single-arm manipulator

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Embodiment Construction

[0080] The present invention will be further described below in conjunction with specific embodiment:

[0081] Such as figure 2 As shown, the observer-based multi-single-arm manipulator output consistent adaptive command filtering control method described in this embodiment includes the following steps:

[0082] S1: Modeling a single-arm manipulator;

[0083] This embodiment adopts the current widely used such as figure 1 For the single-arm manipulator shown, the equation model of the established multi-single-arm manipulator is:

[0084]

[0085] In the above formula, i represents the i-th single-arm manipulator, and q i is the rotation angle, M i is moment of inertia, m i is the mass of a single manipulator, l i is the length of the manipulator, g is the acceleration due to gravity, for q i The second derivative of , D i (v i ) for the dead zone that exists:

[0086]

[0087] The control goal of this embodiment is that the output of the multi-single-arm man...

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Abstract

The invention discloses an observer-based adaptive command filter control method for output consistency of a multi-single-arm manipulator. Modeling of dynamic characteristics of a multi-single-arm manipulator is performed; and an adaptive controller is designed by combining a backstep method with a command filtering technique. During the controller design process, an unknown item of the system approximates by using a fuzzy logic system, so that the need of the precise dynamic model of the manipulator is eliminated. A state observer estimates an unmeasurable state in the system. With the command filtering technique, a complicated signal derivation calculation explosion problem is solved. Since the manipulator system output is restricted, an output restriction problem is solved by using an obstacle Lyapunov function. For a mechanical connection part of the manipulator, the driver always has a non-smooth input dead zone problem; and the influence on the system by the input dead zone is compensated by using the slope information of the input dead zone. The manipulator system output can track the reference signal effectively; and all signals are semi-globally bounded ones.

Description

technical field [0001] The invention relates to the technical field of artificial intelligence and control, in particular to an observer-based multi-single-arm manipulator output consistent adaptive command filtering control method. Background technique [0002] The single-arm manipulator is currently the most widely used automatic mechanical device in the field of robotics, and has been widely used in industrial manufacturing, medical, aerospace, and semiconductor manufacturing. As the tasks become more and more complex, the single-arm manipulator system can no longer meet the actual needs. Compared with a single manipulator system, multi-manipulator systems have greater flexibility and higher reliability. Therefore, the coordinated control of multi-single-arm manipulator systems is a research hotspot in the field of robotics today. On the one hand, because the multi-agent system composed of multiple single-arm manipulators gradually gets rid of the dependence of the whole...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李鸿一郭子杰周琪鲁仁全曹亮
Owner GUANGDONG UNIV OF TECH
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