Mobile mechanical arm robust control method and system based on non-linear disturbance observer

Abstract

The invention provides a mobile mechanical arm robust control method and system based on a non-linear disturbance observer. The method comprises the steps that geometric structure data and motion state data of a mobile mechanical arm are acquired; a kinetic equation of the mobile mechanical arm is constructed by utilizing a Lagrange principle according to the acquired data; and according to the obtained kinetic equation of the mobile mechanical arm, inner and outer ring motion control is carried out, an inner ring uses robust control based on the non-linear disturbance observer, and an outer ring uses a backstepping method to realize conversion from an expected task space trajectory to a joint space. According to the method, a PD + SMC controller with the non-linear disturbance observer is used to track a virtual speed, the problem that a kinetic model cannot be accurately modeled is solved, and for sudden time-varying unknown disturbance, the non-linear observer is used to realize dynamic compensation for observation of the sudden time-varying unknown disturbance.

Description

Technical field[0001]The present disclosure relates to a differential tracking control technique of a differential driving of a differential driving of an uncertain environment, and more particularly to a mobile robot arm rope control method and system based on a non-line interfering observer.Background technique[0002]The statement of this section is merely the background technology related to the present disclosure, and it is not necessarily constituting the prior art.[0003]Mobile robotic arm is a robot that combines mobile platforms and robotic arms that can be moved in operation and completion of job tasks. It combines the advantages of mobile robots and fixed pedestal robots, but it is that its control is difficult, and it is necessary to face a variety of uncertain factors and the effects of internal coupling of robots. In recent years, mobile mechanical arms have been widely referred to by their many advantages and are highly concerned by all walks of life.[0004]However, the i...

AI Technical Summary

Problems solved by technology

[0008] In order to solve the deficiencies of the prior art, the present disclosure provides a robust control method and system for a mobile manipulator based on a nonlinear disturbance observer, which adopts an inner and outer loop control strategy, and the outer loop adopts a backstepping method to design a controller to realize the task-by-task The transformation from space to joint space generates the corresponding virtual velocity control quantity. The inner loop adopts the PD+SMC controller with nonlinear disturbance observer to track the virtual velocity. The PD part replaces the small part of the SMC controller. Solve the problem that the dynamic model cannot be accurately modeled; the switching part in the SMC realizes partial compensation for external disturbances, and for sudden time-varying unknown disturbances, the nonlinear observer is used to realize dynamic compensation for its observations

Images