Inversion sliding mode mechanical arm controller design method based on finite time disturbance observer

A disturbance observer, limited time technology, applied in the direction of manipulator, adaptive control, general control system, etc., can solve the problems of long arrival time of sliding mode surface and large system chattering

Active Publication Date: 2019-11-08
NANJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

However, it is generally difficult to achieve expectations by using only one control method, because a single algorithm has great limitations. Therefore, according to the characteristics of different algorithms, many scholars have tried to mix different control algorithms. The robotic arm can more accurately track the desired trajectory and achieve satisfactory results
[0004]Similar to adaptive neur

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  • Inversion sliding mode mechanical arm controller design method based on finite time disturbance observer
  • Inversion sliding mode mechanical arm controller design method based on finite time disturbance observer
  • Inversion sliding mode mechanical arm controller design method based on finite time disturbance observer

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[0065] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings. In order that those skilled in the art can better understand the implementation of the present invention, the present invention also provides simulation verification results of using Matlab software for fault-tolerant control.

[0066] Such as figure 1 As shown, in order to trace the reference instruction X d , by first estimating the estimated value of the disturbance based on the disturbance observer The uncertainty of f(x) is also taken into account. After integrated into the controller, the manipulator system can quickly track the expected signal and achieve the expected effect. The present invention is an inversion control method based on a disturbance observer, comprising the following steps:

[0067] Step 1, establish a general model of space manipulator dynamics, the model is as follows:

[0068]

[0069] where q∈R n ,...

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Abstract

The invention provides an inversion sliding mode mechanical arm controller design method based on a finite time disturbance observer. According to the method, a dynamic model of a mechanical arm is established at first, then a finite-time disturbance observer for external disturbance is designed and stability analysis is carried out, real-time detection and online estimation on unknown disturbancequantity are carried out, a controller of a nonsingular terminal sliding mode is designed by using the obtained disturbance estimation information, in combination with an inversion and sliding mode control method, the control law of a system is solved by designing an intermediate virtual quantity, moreover, a reaching law control method is added, then the asymptotic stability of the system is proved by a lyapunov function theory, and finally, the asymptotic stability of the system is verified through simulation.

Description

technical field [0001] The invention belongs to the field of automatic control, and relates to a design method of an inverse sliding mode manipulator controller based on a finite time disturbance observer. Background technique [0002] With the rapid development of science and technology, robot manipulators are becoming more and more widely used in industry. People not only need robotic arms to help people live and work better, but also need robotic arms to complete more dangerous and complex tasks in restricted working spaces or complex and changeable environments. Therefore, in the past few decades, robotic manipulators have been widely used in manufacturing industries, nuclear power plants, etc., and have been widely used in medicine by virtue of their advantages of reducing production costs, improving precision, and increasing productivity. [0003] In many practical applications, it is very important to track the precise trajectory of the manipulator, but the manipulat...

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Application Information

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IPC IPC(8): B25J9/16G05B13/04
CPCB25J9/163G05B13/045
Inventor 赵静郦泽云王弦牛友臣
Owner NANJING UNIV OF POSTS & TELECOMM
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