A Fuzzy Control Algorithm for Single-Link Manipulator Based on Stochastic System under Limited Output and Time-delayed Input

A fuzzy control algorithm and stochastic system technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as input delays, achieve the effects of overcoming random disturbances, improving robustness and production efficiency

Active Publication Date: 2022-03-04
NORTHEASTERN UNIV LIAONING
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Problems solved by technology

[0005] In view of this, the present invention proposes a kind of fuzzy controller based on stochastic system design, by introducing Pade approximation technology and nonlinear transformation to solve the problem of robot system console input delay and output limitation, and design self-adaptive The algorithm, combined with the designed fuzzy controller, solves the problem of self-regulation when the manipulator system suffers from input delay and output limitation and random torque disturbance, thereby improving control accuracy and production efficiency

Method used

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  • A Fuzzy Control Algorithm for Single-Link Manipulator Based on Stochastic System under Limited Output and Time-delayed Input
  • A Fuzzy Control Algorithm for Single-Link Manipulator Based on Stochastic System under Limited Output and Time-delayed Input
  • A Fuzzy Control Algorithm for Single-Link Manipulator Based on Stochastic System under Limited Output and Time-delayed Input

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[0060] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0061] Such as Figure 1-3 , the present invention is a fuzzy control algorithm for a single-link manipulator based on a stochastic system under a limited output and input time-lag, comprising the following steps:

[0062] First, the output of the system is processed using a nonlinear transformation:

[0063] The first-order state x of the original system 1 That is, Y is constrained in the interval (-k c ,k c ), using the nonlinear transformation method proposed by the present invention to process as follows

[0064]

[0065] The reference signal is transformed into the following form

[0066]

[0067] The remaining states of each order are defined as x i , i=1,2,...,n, its form is the same as x in the above mathematical model i correspond to equal.

[0068] The input delay of the manipulator system controller can be processed by ...

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Abstract

The invention discloses a random system-based fuzzy control algorithm for a single-link manipulator under limited output and time-lag input, which is composed of a fuzzy adaptive controller, a visual sensor, a manipulator control armature and an end dexterous hand. The present invention uses the fuzzy logic system to design a fuzzy adaptive controller for a manipulator system model with random disturbances and a high degree of nonlinearity, and designs a corresponding adaptive algorithm to make it suffer from the controller input delay when performing network control In the case of limited and output signals and various torque random disturbances, it can still accurately track the reference signal and operate the target.

Description

technical field [0001] The invention belongs to the technical field of manipulator structure and control, and in particular relates to a fuzzy control algorithm for a single-link manipulator based on a stochastic system under limited output and time-lag input. Background technique [0002] Nowadays, with the rapid development of science and technology, robot technology is slowly emerging. With its wide application range, high flexibility and ability to work in extreme environments, it has become one of the indispensable technical fields for the progress and development of human society. . In related technologies, manipulators are widely used in machinery manufacturing, aerospace, medicine, atomic energy and other fields, and play a vital role in automated production. During the force-bearing movement of the manipulator, it interacts with the external environment and completes specified tasks through contact, such as grinding, drilling, polishing, and grasping. In the force...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16G06F17/18
CPCB25J9/1628B25J9/1602G06F17/18
Inventor 王迎春张佳鑫杨珺郑煜仇小洁李海峰柴琦姚禹池朱保鹏
Owner NORTHEASTERN UNIV LIAONING
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