Design method of fast finite time controller of full-state constraint mechanical arm

A technology with limited time and design method, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of long control time, large tracking error, inability to meet control requirements, etc. of the manipulator, so as to ensure accurate tracking. Control and ensure stable results

Active Publication Date: 2021-06-29
CHINA UNIV OF GEOSCIENCES (WUHAN)
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although there are related researches on the control of manipulators under full-state constraints, there is no related research on adaptive fast finite-time control under full-state constraints, which makes the control performance of manipulators partially flawed.
First of all, in terms of control accuracy, the existing control methods have large tracking errors during tracking control, which cannot guarantee that the system output can accurately track the reference signal; The time is relatively long, which cannot meet the higher control requirements
[0005] It can be seen that the research on adaptive fast finite-time control of full-state constrained manipulator systems still faces many challenges, and there are two main problems to be solved: 1. For the constraints of the system, how to design an obstacle Lyapunov function that satisfies the constraints; 2. , How to design a fast finite-time controller based on the influence of unknown external disturbances

Method used

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  • Design method of fast finite time controller of full-state constraint mechanical arm
  • Design method of fast finite time controller of full-state constraint mechanical arm
  • Design method of fast finite time controller of full-state constraint mechanical arm

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Embodiment 1

[0060] Please refer to figure 1 , Embodiment 1 of the present invention provides a design method for a fast finite-time controller of a full-state constrained manipulator, comprising the following steps:

[0061] Step S1, design the observer, specifically:

[0062] S1.1, establish the dynamic equation of the manipulator system:

[0063]

[0064] where q is the angular position, is the angular acceleration, M is the moment of inertia, m is the mass of the connecting rod, g is the acceleration due to gravity, F is the force, and l is the length of the connecting rod;

[0065] S1.2, establish the initial state equation of the manipulator system:

[0066] Define the state variables and control inputs of the manipulator system as follows:

[0067]

[0068] where x 1 、x 2 is the state variable of the manipulator system, u is the control input of the manipulator system, is the angular velocity;

[0069] Then the dynamic equation (1) of the manipulator system is expres...

Embodiment 2

[0106] The purpose of Embodiment 2 is to provide a computing device, including a memory, a processor, and a computer program stored on the memory and operable on the processor. When the processor executes the program, the following steps are implemented, including:

[0107] Step S1, design the observer, specifically: establish the dynamic equation of the manipulator system; establish the initial state equation of the manipulator system; design a finite time disturbance observer; establish the state equation of the manipulator system;

[0108] Step S2, design the controller of the manipulator based on the backstepping method.

Embodiment 3

[0110] The purpose of Embodiment 3 is to provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the following steps are performed:

[0111] Step S1, design the observer, specifically: establish the dynamic equation of the manipulator system; establish the initial state equation of the manipulator system; design a finite time disturbance observer; establish the state equation of the manipulator system;

[0112] Step S2, design the controller of the manipulator based on the backstepping method.

[0113] The various steps and methods involved in the device in the above embodiments correspond to those in Embodiment 1, and for specific implementation details, please refer to the relevant description of Embodiment 1. The term "computer-readable storage medium" shall be understood to include a single medium or multiple media including one or more sets of instructions: it shall also be taken to include any me...

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Abstract

The invention provides a design method of a fast finite time controller of a full-state constraint mechanical arm. The method comprises the following steps of designing an observer, specifically, establishing a kinetic equation of a mechanical arm system; establishing an initial state equation of the mechanical arm system; designing a finite time disturbance observer; establishing a state equation of the mechanical arm system; and designing a mechanical arm controller based on a backstepping method. The controller designed by using the method provided by the invention enables the mechanical arm system to be stable in fast finite time, the output of the mechanical arm system can well follow the change of a given signal, and the controller well solves the problem of fast finite time tracking control of the mechanical arm system under the condition that constraint conditions are met.

Description

technical field [0001] The invention relates to the technical field of manipulator design, in particular to a design method of a fast finite-time controller for a full-state constrained manipulator. Background technique [0002] With the rapid development of communication, computer, network and other fields, the related subjects of manipulator have become a new research direction in the field of automatic control. Since the robotic arm can participate in the work in various complex environments, the status of the robotic arm in industrial production and social life continues to increase. Therefore, in order to better use the manipulator to assist in completing various tasks, the control of the manipulator has attracted more and more attention from researchers. [0003] Since the manipulator system is a typical nonlinear system, usually the design method of the controller of this kind of nonlinear system is to transform the dynamic equation of the manipulator into a linear e...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈响郑世祺陈扬孜
Owner CHINA UNIV OF GEOSCIENCES (WUHAN)
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