Distributed type sampling control for multi-connecting-rod manipulator system
A technology of connecting rod manipulators and manipulators, applied in manipulators, program control manipulators, manufacturing tools, etc., can solve the problem of high cost of continuous controller control, achieve the effects of simple structure, cost reduction, and improvement of work efficiency
Active Publication Date: 2021-10-15
LUDONG UNIVERSITY
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[0003] The invention provides a sampling control strategy for the distributed tracking problem of a multi-link manipulator system to solve the problem of high control cost of the existing continuous controller
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[0027] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all. For other researchers in this field, other embodiments obtained under the premise of not paying creative work are the scope of protection of the present invention .
[0028] The distributed tracking problem of the existing multi-link manipulator system uses a continuous time controller, and the control cost is high. To solve the above problems, the present invention provides a sampling control strategy for the distributed tracking problem of the multi-link manipulator system. The content of the invention will be described from five aspects below: the first part is the description of the...
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The invention discloses a sampling control strategy for a distributed type tracking problem of a multi-connecting-rod manipulator system. The strategy aims to promote the distributed type tracking problem of a multi-agent system from continuous control to sampling control. The strategy is technically characterized by comprising the following steps that firstly, a Lyapunov function is selected, a linear continuous controller is designed to stabilize a system, a linear sampling controller is designed based on a continuous controller structure, and stability analysis is carried out again to stabilize the system; secondly, an output error between a leader and each follower is calculated, and a conclusion that the output error can be arbitrarily small after finite time can be obtained; and finally, aiming at the manipulator with three sub connecting rods in the embodiment, computer simulation is utilized to obtain a reaction diagram of a system state, a tracking error and a control signal, and the effectiveness of the sampling strategy is verified. Under the sampling strategy, the controller has the advantages of simple structure, low control cost and high working efficiency. The strategy is suitable for copyright protection of distributed type sampling control of the multi-agent system.
Description
technical field [0001] The invention is a sampling control strategy aimed at the distributed tracking problem of a multi-link manipulator system in industry, and belongs to the technical field of automatic control. Background technique [0002] In various practical fields, multi-agent systems are more widely used than single systems, and its distributed tracking problem has become the focus of people's attention in recent years. For example, drone formation, satellite attitude calibration, and load balancing are all practical applications of distributed tracking for multi-agent systems. For the design of the controller, most people used the continuous controller before, but the continuous controller is sampling all the time, and the control cost is relatively high. In recent years, sampling control has become a trend and has been applied to various fields, for example, adaptive sampling in emerging industries, dual-rate sampling in vehicle stability, etc. Compared with the...
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IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/1653Y02P90/02
Inventor 李武全徐晓宇王瑞桃
Owner LUDONG UNIVERSITY