Adaptive inversion integral nonsingular fast terminal sliding mode controller design method

A technology of inversion integral and terminal sliding mode, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve the problem that the tracking performance needs to be improved.

Active Publication Date: 2021-01-19
NANCHANG UNIV
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Problems solved by technology

Although they can effectively weaken the chattering phenomenon, the tracking performance of the manipulator that requires high precision still needs to be improved.

Method used

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  • Adaptive inversion integral nonsingular fast terminal sliding mode controller design method
  • Adaptive inversion integral nonsingular fast terminal sliding mode controller design method
  • Adaptive inversion integral nonsingular fast terminal sliding mode controller design method

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Embodiment Construction

[0060] Below in conjunction with specific embodiment, further illustrate the present invention, in order to illustrate the present invention better, adopt matlab numerical simulation to verify the proposed controller, the result is as follows Figures 1 to 7 shown. Specific steps are as follows:

[0061] Step 1, establish a dynamic model of the manipulator including the LuGre friction model, the model is as follows:

[0062]

[0063]

[0064] In the formula Represent the position, velocity and acceleration of the joints of the manipulator, respectively.

[0065] M(q)=M 0 (q)+ΔM(q) is a positive definite inertia matrix, is the matrix of centrifugal force and Coriolis force, G(q)=G 0 (q)+ΔG(q) is the gravity vector, M 0 (q), G 0 (q) is the nominal value of the system parameter, ΔM(q), ΔG(q) represents the uncertain part of the system, τ is the control input, τ d For disturbance input, is the LuGre friction torque. is the average deformation of the contact...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04B25J9/16
CPCG05B13/042B25J9/1664
Inventor 徐正宏杨晓辉张文杰张伟杨爽张柳芳
Owner NANCHANG UNIV
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