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Self-adaptive output feedback control method for single-connecting-rod mechanical arm

A technology of output feedback, control method

Pending Publication Date: 2022-02-15
NANJING UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Some existing studies rely on the system output function being differentiable everywhere or locally Lipschitz continuous, but it is difficult to satisfy in many practical systems

Method used

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  • Self-adaptive output feedback control method for single-connecting-rod mechanical arm
  • Self-adaptive output feedback control method for single-connecting-rod mechanical arm
  • Self-adaptive output feedback control method for single-connecting-rod mechanical arm

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Embodiment

[0077] combine figure 1 , the present invention is aimed at the self-adaptive output feedback control method of single link manipulator, comprises the following steps:

[0078] Step 1. Establish a single-link manipulator model, obtain a random nonlinear time-delay system model, and combine Figure 2 ~ Figure 3 ,details as follows:

[0079] Step 1.1, the system dynamics of a class of single-link manipulators are:

[0080]

[0081]

[0082] Among them, q, respectively represent the position, velocity and acceleration of the connecting rod; τ r Torque generated for the electrical system; is the time-varying delay d(t) and torque random disturbance ω defined in the system; u is the control input, used to represent the electromechanical torque; D is the mechanical inertia; B is the viscous friction coefficient at the joint; N is the load mass A normal constant related to the gravity coefficient; M is the armature inductance; H is the armature resistance; K m is the co...

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Abstract

The invention discloses a self-adaptive output feedback control method for a single-connecting-rod mechanical arm. The method comprises the steps that firstly, carrying out modeling on the single-connecting-rod mechanical arm, and obtaining a state space model of the mechanical arm; constructing a corresponding state compensator according to the unmeasurable state of the system, introducing a self-adaptive dynamic high gain and estimating the state of the system; performing coordinate transformation on the system, and introducing an adjustable constant gain to obtain a transformed new system; designing an adaptive output feedback controller for the new system based on a dual control method; and finally, determining a value range of an adjustable constant gain by utilizing a Lyapunov stability theory, and realizing a global stabilization closed-loop system. According to the method, the unknown state of the system can be well estimated based on the self-adaptive thought under the condition that the single-connecting-rod mechanical arm has uncertain parameters, and effective control over the nonlinear mechanical arm system is achieved, so that the nonlinear mechanical arm system tends to be stable under the influence of random disturbance.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to an adaptive output feedback control method for a single-link mechanical arm. Background technique [0002] With the continuous development of science and technology in the direction of intelligence, robots have become a multi-disciplinary high-tech industry that integrates computers, information and sensing technology, cybernetics, artificial intelligence, etc., and have played a huge role in improving the level of industrial automation. As a typical representative of industrial robots, the mechanical arm can imitate certain movement functions of human hands and arms. It is an automatic operation device that grabs, carries objects or operates tools according to a fixed program. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to ensure personal safety, so it is widely used in machinery manuf...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 马倩孟庆坦徐胜元
Owner NANJING UNIV OF SCI & TECH