Finite time stability control method and system for flexible single-chain mechanical arm

A stable control method and finite time technology, applied in the field of manipulator engineering, can solve the problems of complexity explosion, research results that do not take into account the finite time problem, increased calculation burden, etc., to achieve accurate sinking time, improve control accuracy and calculation The effect of improving efficiency and improving control accuracy

Active Publication Date: 2021-02-09
SHANDONG NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the process based on backstepping design, each step needs to derive the virtual control rate, which increases the computational burden and causes the "complexity explosion problem"
[0005] Although some research results have been achieved in the flexible single-chain manipulator system, most of the research results did not consider the finite time problem

Method used

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  • Finite time stability control method and system for flexible single-chain mechanical arm
  • Finite time stability control method and system for flexible single-chain mechanical arm
  • Finite time stability control method and system for flexible single-chain mechanical arm

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Experimental program
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Embodiment 1

[0037] In one or more embodiments, a finite-time stable control method of a flexible single-chain robotic arm is disclosed, including the following steps:

[0038] (1) Determine the dynamic equation of the flexible single-chain manipulator;

[0039] (2) carry out coordinate transformation to described kinetic equation, described kinetic equation is converted into the fifth-order non-strict feedback form;

[0040] (3) Using the backstepping method and command filtering technology, design a virtual controller for each step, and introduce a compensation signal to reduce the error caused by command filtering, and finally obtain an adaptive finite-time controller for the flexible single-chain manipulator;

[0041] (4) Control the flexible single-chain robotic arm based on the controller.

[0042] The implementation process of the finite-time stable control method for the flexible single-chain manipulator of this embodiment will be described in detail below.

[0043] Schematic dia...

Embodiment 2

[0237] In one or more embodiments, a finite-time stability control system for a flexible single-chain manipulator is disclosed, comprising:

[0238] A module for determining the kinetic equations of a flexible single-chain manipulator;

[0239] A module for performing coordinate transformation on the dynamic equation and converting the kinetic equation into a fifth-order non-strict feedback form;

[0240] It is used to design the virtual controller of each step by using the backstepping method and command filtering technology, and at the same time introduce the compensation signal to reduce the error caused by the command filtering, and finally obtain the module of the adaptive finite-time controller of the flexible single-chain manipulator;

[0241] A module for controlling a flexible single-chain robotic arm based on the controller.

[0242] It should be noted that the specific working methods of the above modules are realized by the method disclosed in Embodiment 1, and de...

Embodiment 3

[0244] In one or more embodiments, a terminal device is disclosed, including a server, the server includes a memory, a processor, and a computer program stored on the memory and operable on the processor, and the processor executes the The program realizes the finite-time stable control method of the flexible single-chain manipulator in the first embodiment. For the sake of brevity, details are not repeated here.

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Abstract

The invention discloses a finite time stability control method and system for a flexible single-chain mechanical arm. The method comprises the steps that a kinetic equation of the flexible single-chain mechanical arm is determined; coordinate transformation is carried out on the kinetic equation, and the kinetic equation is converted into a five-order non-strict feedback form; a virtual controllerof each step is designed by using a backstepping method and a command filtering technology, a compensation signal is introduced to reduce an error caused by command filtering, and thus an adaptive finite time controller of the flexible single-chain mechanical arm is finally obtained; and the flexible single-chain mechanical arm is controlled based on the controller. According to the method and the system, the self-adaptive finite time controller is constructed by fusing the command filtering technology and the backstepping control method, so that the problem of complexity explosion caused bya traditional backstepping control method is solved; and the compensation signal is introduced into the command filtering technology, so as to compensate for an error between a virtual control signaland an actual control signal neglected in a dynamic surface technology.

Description

technical field [0001] The invention relates to the field of manipulator engineering, in particular to a finite-time stable control method for a flexible single-chain manipulator. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] Robotic arms are considered an essential part of the manufacturing industry, playing important roles in automotive, military, medical, and more. Therefore, more and more researchers are studying the robotic arm from the perspectives of sensors, control algorithms, and intelligent brains, making the flexible single-chain robotic arm system a hot topic in the field of control. [0004] In many studies, the coordinate transformation of the flexible single-chain manipulator system is performed first, and then the backstepping method is applied. However, in the process of backstepping-based design, each step needs to d...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/163B25J9/1653
Inventor 程婷婷牛奔王晓梅张家鸣
Owner SHANDONG NORMAL UNIV
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