Fixed-time trajectory tracking control method for uncertain manipulator with input saturation

Abstract

The invention provides a fixed-time trajectory tracking control method of an uncertain mechanical arm with input saturation, which can overcome the influence of the mechanical arm control input saturation effect and uncertainty, and improve the robustness of the system. The method includes: establishing a dynamic equation of an n-degree-of-freedom rotary joint rigid manipulator system with a viscous friction term; establishing a tracking error dynamic considering parameter uncertainty according to the established dynamic equation and the manipulator trajectory tracking error signal establish the state space model of the trajectory tracking error of the manipulator; establish a fixed-time disturbance observer according to the established state-space model; establish a fixed-time non-singular terminal sliding surface based on the trajectory tracking error signal of the manipulator; preliminarily determine the manipulator The control torque command of each joint drive motor is combined with the control torque output range of the actuator to obtain the control torque of each joint of the manipulator. The invention relates to the field of robotic 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 ...

AI Technical Summary

Problems solved by technology

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

Images