A Consistent Control Method for Multi-manipulator System Based on Disturbance Observer
A technology of disturbance observer and control method, applied in the field of tracking control of manipulators and consistent control of multi-manipulator systems, can solve problems such as feedback control time delay, system performance degradation, fluctuation, etc., to improve reliability and simplify the structure. , the effect of reducing costs
Active Publication Date: 2021-05-28
CAPITAL NORMAL UNIVERSITY
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Problems solved by technology
However, due to the unknown external disturbance of the manipulator, it poses a severe challenge to the cooperative control of the manipulator. If the external disturbance is not considered in the study of the multi-manipulator cooperative control problem, the designed controller will often lead to system failure. performance degradation, or even failure
[0003] In order to study the unknown external disturbance of the manipulator, many scholars at home and abroad have conducted a lot of research. At present, there are mainly methods such as feedback control and robust control. However, feedback control has problems such as time lag and fluctuation. Robust control is suitable for Uncertainty under small perturbations
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[0047] Such as figure 1 As shown, the consistent control method of the multi-manipulator system based on the disturbance observer of the present invention, the specific steps are as follows:
[0048] 1. Establish a dynamic model of the system
[0049] The dynamic model of n subsystems of a multi-manipulator system with unknown external disturbances is established as follows:
[0050]
[0051] Among them, q i ,v i ∈R 2 are the position and velocity of the i-th robotic arm, T i ∈R 2 Indicates the joint input torque, d i1 , d i2 ∈R 2 is the disturbance moment of the i-th manipulator, It is related to the centripetal force, Coriolis force and gravitational moment of the i-th robotic arm, J i (q i )∈R 2×2 is the symmetric positive definite inertia matrix of the i-th robotic arm.
[0052] The dynamic model of the navigator manipulator can be described as:
[0053]
[0054] Among them, q 0 ,v 0 ∈R2 are the position and velocity of the robot arm leader, respecti...
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The invention relates to a consensus control method for a multi-manipulator system based on a disturbance observer. For a multi-manipulator system subject to external disturbances, a distributed consensus control algorithm for a multi-manipulator system is designed; For external disturbance, a disturbance observer is designed to suppress the disturbance and improve the control precision; secondly, a distributed consensus control method is designed in combination with the designed disturbance observer. This method can be applied to the tracking control of manipulators in industrial assembly, safety explosion-proof, and aerospace applications; this method solves the problem of distributed consistency control of multi-manipulator systems with unknown external disturbances, and improves the control accuracy and stability of the system properties, wide range of applications.
Description
technical field [0001] The invention relates to a consistent control method for a multi-manipulator system, in particular to a consistent control method for a multi-manipulator system based on a disturbance observer, which can be applied to tracking control of a manipulator. Background technique [0002] With the rise of artificial intelligence and robotics, the collaborative control of multi-manipulators has attracted the attention of industries, aerospace and other fields. However, due to the unknown external disturbance of the manipulator, it poses a serious challenge to the cooperative control of the manipulator. If the external disturbance is not considered in the study of the multi-manipulator cooperative control problem, the designed controller will often lead to system failure. Performance degradation, or even failure. [0003] In order to study the unknown external disturbance of the manipulator, many scholars at home and abroad have conducted a lot of research. At...
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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1628B25J9/1694
Inventor 任长娥付全新李桂露袁超
Owner CAPITAL NORMAL UNIVERSITY