Uncertainty robot adaptive neural network control method based on inversion method

A neural network control and adaptive controller technology, applied in the direction of adaptive control, general control system, control/regulation system, etc. Control laws and parameters are improved to ensure the effect of stability

Inactive Publication Date: 2021-01-08
NANJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

However, this online identification method has a huge amount of calculation and high real-time requirements. For complex systems with uncertainties, adaptive control cannot guarantee the stability of the system.

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  • Uncertainty robot adaptive neural network control method based on inversion method
  • Uncertainty robot adaptive neural network control method based on inversion method
  • Uncertainty robot adaptive neural network control method based on inversion method

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Embodiment Construction

[0057] The specific embodiment of the present invention will be further described in detail in conjunction with the accompanying drawings. In order that those of ordinary skill in the art can better understand the implementation of the present invention, the present invention also provides the simulation verification results of trajectory tracking using Matlab2012b software.

[0058] Such as figure 1 As shown, when the attitude sensor fails, in order to enable the flexible spacecraft to track the desired attitude, a fault diagnosis and identification module is established through an unknown input observer and a filter to detect and estimate the fault in real time, and further use the fault estimation information to design A dynamic output feedback fault-tolerant controller improves the fault tolerance of the flexible spacecraft attitude control system.

[0059]The present invention is an active fault-tolerant control method for a flexible spacecraft based on dynamic output fe...

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Abstract

The invention provides an uncertainty robot adaptive neural network control method based on an inversion method. The method includes the steps of step 1, establishing a kinetic model of an uncertaintyrobot; step 2, converting the kinetic model of the uncertain robot into a general state space form; step 3, defining a tracking error, and converting the general state space form in the step 2 into astate space form about the error; step 4, designing a model-based controller by using the inversion method; step 5, introducing a Moore-Penrose inversion, and designing a control law tau 0; and step6, designing an adaptive controller by utilizing a neural network under the condition of considering the kinetic model and the uncertainty of external disturbance. According to a neural network adaptive trajectory tracking method and the controller provided, the disturbance generated by an external environment and robot modeling uncertainty are fully considered, so that the method and the controller have more practical significance for improving the adaptive ability of a robot control system to uncertainty factors.

Description

technical field [0001] The invention belongs to the technical field of robot trajectory tracking control, and in particular relates to an adaptive neural network control method for an uncertain robot based on an inversion method. Background technique [0002] When the structure of the robot and its mechanical parameters are determined, the complete dynamic characteristics of the system can be described by the dynamic model, so that various control theories can be applied to design a model-based controller to realize the trajectory tracking control of the robot, so that the position and speed of the robot and other state variables track a given ideal trajectory. But in actual engineering, because the robot is a nonlinear and uncertain system, it is difficult to obtain an accurate mathematical model of the robot. Therefore, dealing with the nonlinear uncertainty of the system is a very critical research content in the trajectory tracking control of the robot. [0003] At pre...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G05B13/02G05B13/04
CPCB25J9/16B25J9/1628G05B13/027G05B13/042
Inventor 王邢波钱继东
Owner NANJING UNIV OF POSTS & TELECOMM
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