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An 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, program control manipulator, etc., can solve the problems that the tracking performance needs to be improved, so as to avoid the chattering phenomenon, solve the singularity problem, and improve the control The effect of precision

Active Publication Date: 2022-02-11
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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  • An Adaptive Inversion-Integral Nonsingular Fast Terminal Sliding Mode Controller Design Method
  • An Adaptive Inversion-Integral Nonsingular Fast Terminal Sliding Mode Controller Design Method
  • An 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. 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 surface,...

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Abstract

The invention discloses 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. First of all, in order to better reflect the state of the manipulator in actual work and improve the control accuracy, the LuGre friction model is combined with the dynamic model of the manipulator. And on this basis, a new type of integral fast terminal sliding mode surface is designed, which can greatly improve the convergence speed and tracking accuracy, and then design a reasonable saturation function for singular items to avoid singularities. Since the external disturbance and system uncertainty are unknown, the extended state observer is used to estimate and compensate it, and it can also effectively eliminate chattering. The speed information of the joints of the manipulator can also be obtained through the expansion observer, so we only need to measure the position information of the joints through the encoder. Finally, the control torque is designed by inversion method, and the global asymptotic stability based on Lyapunov's theorem is realized.

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 Patents(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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