Adaptive inversion integral nonsingular fast terminal sliding mode controller design method

Abstract

The invention discloses an adaptive inversion integral nonsingular fast terminal sliding mode controller design method based on an extended state observer for mechanical arm trajectory tracking control. Firstly, in order to better reflect the state of the mechanical arm in actual work and improve the control precision, a LuGre friction force model is combined with a mechanical arm kinetic model. And a novel integral fast terminal sliding mode surface is designed on the basis, so that the convergence speed and the tracking precision can be greatly improved, and a reasonable saturation functionis designed for a singular item to avoid singularity. Due to the fact that external disturbance and system uncertainty are unknown, an extended state observer is adopted to estimate and compensate theexternal disturbance and the system uncertainty, and meanwhile buffeting can be effectively eliminated. The speed information of the mechanical arm joint can be obtained through the expansion observer, and therefore people only need to measure the position information of the joint through the encoder. And finally, a control moment is designed by using a backstepping method to realize global asymptotic stability based on the Lyapunov theorem.

Description

technical field

[0001] The invention belongs to the technical field of automatic control, in particular to a design method of an adaptive inversion integral non-singular fast terminal sliding mode controller based on an extended state observer for trajectory tracking control of a manipulator. Background technique

[0002] In recent years, as manipulators are more and more widely used in various fields, the requirements for tracking accuracy, stability and response speed in actual use are also getting higher and higher. How to improve the performance of manipulators in tracking desired trajectories, especially in the presence of system uncertainties and external disturbances, remains a challenge in the research field. Therefore, in order to improve the tracking performance, researchers have proposed various control methods, such as computational torque control, optimal control, PID control, model predictive control, backstepping control, and robust control. Sliding mode cont...

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