Distributed robust tracking control method applied to multi-degree-of-freedom mechanical arm

Abstract

The invention discloses a distributed robust tracking control method applied to a multi-degree-of-freedom mechanical arm, and belongs to the field of robot control. The problems of the disturbance anduncertainty of the multi-degree-of-freedom mechanical arm are solved. The distributed robust tracking control method applied to the multi-degree-of-freedom mechanical arm decomposes the entire mechanical arm into single joints and lumped disturbance, the lumped disturbance of each joint is observed by adopting an extended high-gain observer, a coupling term obtained by estimating is compensated by a localized design method, the internal states of the single joints are kept stable, and the relative independent among the single joints is realized through a virtual decoupling method; and when the joints are connected to each other, the stability of the entire mechanical arm can be achieved only by ensuring the local stability of the single joints. The control method has better tracking performance and anti-interference ability, the global stability of a closed-loop system can be ensured, the calculation amount is moderate, and implementation is easy.

Description

technical field [0001] The invention relates to the field of robot control, more specifically, to a distributed robust tracking control method applied to a multi-degree-of-freedom mechanical arm. Background technique [0002] The multi-link robotic arm has the characteristics of high precision, strong reliability, and fast response, and is widely used in industrial robots, prosthetic hands, humanoid robots, dexterous robot hands and other fields. In the past ten years, with the development of industrial applications, the tracking control of robots has attracted more and more attention. Trajectory tracking control is to make each joint of the manipulator move along the desired trajectory. PID control (proportional-integral-derivative control) has become the main control strategy for robot control due to its simple control structure, high reliability, and strong practicability. However, in practical applications, due to the characteristics of strong nonlinearity, inevitable ...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problem that the algorithm of the decentralized control method in the prior art is complex and has disturbance uncertainty, unknown disturbance and chattering cannot be avoided, the present invention provides a new type of distributed robust tracking control method, which can achieve more Good tracking performance and anti-interference ability, while ensuring the global stability of the closed-loop system, moderate calculation and easy to implement

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