A fast finite-time controller design method for fully state-constrained manipulators

A technology with limited time and design method, applied in the direction of adaptive control, general control system, control/regulation system, etc., it can solve the problems of long control time, large tracking error, and inability to ensure that the system output accurately tracks the reference signal, etc. , to achieve the effect of ensuring accurate tracking control and ensuring stability

Active Publication Date: 2022-04-01
CHINA UNIV OF GEOSCIENCES (WUHAN)
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  • 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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  • A fast finite-time controller design method for fully state-constrained manipulators
  • A fast finite-time controller design method for fully state-constrained manipulators
  • A fast finite-time controller design method for fully state-constrained manipulators

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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 constraint manipulator, including the following steps:

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

[0062] S1.1, establish the dynamic equation of the robotic arm 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 of 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] The state variables and control inputs of the manipulator system are defined 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 express...

Embodiment 2

[0106] The purpose of this embodiment 2 is to provide a computing device, including a memory, a processor, and a computer program stored on the memory and running on the processor, and the processor implements the following steps when executing the program, including:

[0107] Step S1, designing an observer, specifically: establishing a dynamic equation of the manipulator system; establishing an initial state equation of the manipulator system; designing a finite-time disturbance observer; establishing a state equation of the manipulator system;

[0108] In step S2, the manipulator controller is designed based on the backstepping method.

Embodiment 3

[0110] The purpose of this 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, designing an observer, specifically: establishing a dynamic equation of the manipulator system; establishing an initial state equation of the manipulator system; designing a finite-time disturbance observer; establishing a state equation of the manipulator system;

[0112] In step S2, the manipulator controller is designed based on the backstepping method.

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

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Abstract

The invention provides a method for designing a fast finite-time controller of a full-state constrained manipulator, comprising the following steps: designing an observer, specifically: establishing the dynamic equation of the manipulator system; establishing the initial state equation of the manipulator system; designing a finite-time Disturbance observer; establish the state equation of the manipulator system; design the manipulator controller based on the backstepping method. The controller designed by using the method provided by the invention can make the manipulator system stable in a fast and limited time, and the output of the manipulator system can well follow the change of the given signal. Fast finite-time tracking control problems under the condition.

Description

technical field [0001] The invention relates to the technical field of mechanical arm design, in particular to a design method of a fast finite-time controller of a full-state constraint mechanical arm. Background technique [0002] With the rapid development of communication, computer, network and other fields, the related topics of manipulator have become a new research direction in the field of automatic control. Since the robotic arm can participate in various tasks in complex environments, the status of the robotic arm in industrial production and social life is constantly improving. Therefore, in order to better use the robotic arm to assist in completing various tasks, the control problem of the robotic arm has attracted more and more attention of researchers. [0003] Since the manipulator system is a typical nonlinear system, usually the design method of the controller of such a nonlinear system is to first convert the dynamic equation of the manipulator into a lin...

Claims

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Application Information

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Patent Type & Authority Patents(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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