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An improved finite-time inversion control method for manipulators

A time-limited, inverse control technology, applied in adaptive control, general control system, control/regulation system, etc., to achieve the effect of overcoming the precise information of the system and improving the robustness of the system

Active Publication Date: 2022-07-22
苏州连恺自动化有限公司
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Problems solved by technology

Neural networks and fuzzy systems with universal approximation capabilities have been widely used in uncertainty approximation compensation, but the controller needs to estimate the upper bound information of system uncertainty in advance when used in manipulator control, which has certain limitations.

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  • An improved finite-time inversion control method for manipulators
  • An improved finite-time inversion control method for manipulators
  • An improved finite-time inversion control method for manipulators

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Embodiment Construction

[0098] The technical solutions of the present invention will be further elaborated below with reference to the accompanying drawings and specific embodiments.

[0099] An improved finite-time inversion control method for a manipulator, comprising the following steps:

[0100] (1) Building the power model of the manipulator

[0101] Consider a rigid manipulator with n joints whose dynamic equations are:

[0102]

[0103] where q, are the position, velocity and acceleration vector of each joint of the manipulator, M(q)∈R n×n is the inertia matrix containing the additional mass, is the coupling matrix of centrifugal force and Coriolis force, G(q)∈R n×1 is the gravity matrix vector, is the friction torque, τ d ∈R n×1 is the unknown external disturbance, τ∈R n×1 is the control input of each joint motion, n is the number of joint degrees of freedom;

[0104] (2) Design the manipulator finite time inversion controller

[0105] The control goal of the manipulator posit...

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Abstract

The invention discloses an improved finite-time inversion control method for a manipulator, comprising the following steps: S1, building a dynamic model of the manipulator; S2, designing a finite-time inversion controller of the manipulator; S3, using a fuzzy neural network to approximate the unknown in the inversion controller state. The control method of the invention uses the finite time inversion method to design the manipulator controller, so that the position of each joint of the manipulator reaches the desired target position, and adopts the structure and parameters to fully adjust the fuzzy neural network structure to design the self-adaptive fuzzy neural network control system, so as to overcome the The finite-time inversion control strategy requires precise information of the system, which further improves the robustness of the system.

Description

technical field [0001] The invention relates to a manipulator control technology, in particular to an improved finite-time inversion control method for a manipulator. Background technique [0002] A manipulator is a mechanical device with similar action functions as a human arm, which can grasp and place objects in space or perform other operations. It can replace the heavy labor of humans to realize the mechanization and automation of production, and can operate in harmful To protect personal safety, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other departments. [0003] Due to factors such as the uncertainty of the joint parameters of the manipulator, the model uncertainty exists in the dynamic model of the manipulator, which will affect the control accuracy of the manipulator based on the model control. At present, for the problem that uncertain factors such as model uncertainty and external disturbance affe...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 祁兴华张川丰侯世玺
Owner 苏州连恺自动化有限公司
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