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Uncertain mechanical arm fixed time track following control method with input saturation

A fixed-time, trajectory-tracking technology, applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as low robustness of the system

Active Publication Date: 2020-05-15
UNIV OF SCI & TECH BEIJING
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  • Abstract
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Problems solved by technology

However, the system is less robust due to uncertainties in the manipulator system and input saturation effects

Method used

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  • Uncertain mechanical arm fixed time track following control method with input saturation
  • Uncertain mechanical arm fixed time track following control method with input saturation
  • Uncertain mechanical arm fixed time track following control method with input saturation

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Embodiment Construction

[0060] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0061] like figure 1 As shown, the fixed-time trajectory tracking control method of an uncertain manipulator with input saturation provided by an embodiment of the present invention includes:

[0062] S1, establish the dynamic equation of the n-DOF rotary joint rigid manipulator system with viscous friction term;

[0063] S2. According to the established dynamic equation and the trajectory tracking error signal of the manipulator, establish a tracking error dynamic equation considering parameter uncertainty, wherein the parameter uncertainty includes: dynamic modeling error and unknown external disturbance;

[0064] S3, according to the tracking error dynamic equation considering the parameter uncertainty, establish the state space model of the trajecto...

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Abstract

The invention provides an uncertain mechanical arm fixed time track following control method with input saturation, which can overcome influences of mechanical arm control input saturation effect anduncertainty, and improves robustness of a system. The method comprises the following steps: establishing a kinetic equation of an n-freedom rotary joint rigid mechanical arm system with a viscous friction item; according to the established kinetic equation and a mechanical arm track error following signal, establishing a following error kinetic equation which takes parameter uncertainty into consideration; establishing a state space model of mechanical arm track following errors; establishing a fixed time disturbance observer according to the established space model; establishing a fixed timenon-singular terminal sliding mode surface according to the mechanical arm track following error signal; preliminarily determining each joint drive motor control moment instruction of a mechanical arm, and integrating a moment output range of a performer, thereby obtaining each joint control moment of the mechanical arm. The invention relates to the field of mechanical arm control.

Description

technical field [0001] The invention relates to the field of manipulator control, in particular to an uncertain manipulator fixed-time trajectory tracking control method with input saturation. Background technique [0002] The robotic arm is of great significance for improving the degree of production automation and improving the level of the national manufacturing industry. At present, the robotic arm is widely used in various fields such as production, scientific research, and service, and plays an important role. It has good properties and can be used to replace some heavy work for human beings, such as industrial assembly, automobile manufacturing, space exploration, modern agriculture and forestry, etc. The control system plays a key role in various manipulator-based tasks, and continuous improvement of control system accuracy, robustness, and reduced power consumption are goals in the field of automation control. [0003] The convergence performance of tracking error ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1633
Inventor 孙亮王智冬
Owner UNIV OF SCI & TECH BEIJING
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