Robot mixing time control method and system with input hysteresis and medium

A robot system and hybrid time technology, applied in general control systems, control/regulation systems, adaptive control, etc., can solve problems such as system performance impact, limited communication resources, and increased system communication burden

Active Publication Date: 2022-03-18
GUANGZHOU UNIVERSITY
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Problems solved by technology

However, its convergence time is related to the initial state of the system. When the initial state of the system is far from the equilibrium point, the convergence time will become very long
In addition, due to the structural characteristics of the mechanical structure itself, input hysteresis is unavoidable in robotic systems and has a great impact on system performance
In order to ensure control accuracy, the system needs a large amount of control to compensate for the influence of hysteresis, so hysteresis will increase the communication burden of the system, however, the communication resources of the system are limited

Method used

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  • Robot mixing time control method and system with input hysteresis and medium
  • Robot mixing time control method and system with input hysteresis and medium
  • Robot mixing time control method and system with input hysteresis and medium

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[0075] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0076] Below in conjunction with accompanying drawing, the implementation principle of the method of the present invention is described in detail:

[0077] figure 1 Shown is a schematic diagram of the overall flow of the robot mixing time control method with input hysteresis provided by the embodiment of the present invention, the method includes:

[0078] Model the input hysteresis;

[0079] According to the modeled input hysteresis model, a robot system model with input hysteresis is constructed;

[0080] Determine the control mechanism based on the robot system model...

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Abstract

The invention discloses a robot mixed time control method and system with input hysteresis and a medium. The method comprises the steps that the input hysteresis is modeled; constructing a robot system model with input hysteresis according to the modeled input hysteresis model; determining a control mechanism according to the robot system model with the input hysteresis; determining an error system and a stability function according to the control mechanism; and according to the error system and the stability function, converging the system error of the robot system model with the input hysteresis. According to the hybrid time control method, finite time convergence of system errors can be achieved, the convergence time is irrelevant to the initial state of the system, meanwhile, a control mechanism of event trigger compensation is constructed for the problem of input hysteresis, the control mechanism can achieve online hysteresis compensation, and the control precision is improved. On the premise of ensuring system control precision, updating frequency of input signals can be reduced, so that communication resources are saved, and the method can be widely applied to the technical field of robot control.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a robot mixing time control method, system and medium with input hysteresis. Background technique [0002] In recent years, with the continuous extension of the application range of robots, the working environment has become more demanding, and the task requirements have become more and more complex. Therefore, the requirements for the control performance and control precision of the robot are also increasing day by day. [0003] An important system performance index is the convergence speed, and the finite-time stable control has strong robustness, and can realize the finite-time convergence of the error. However, its convergence time is related to the initial state of the system. When the initial state of the system is far from the equilibrium point, the convergence time will become very long. In addition, due to the structural characteristics of the mechanical structur...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02P90/02
Inventor 王建晖王晨吴宇深李咏华杜泳萍洪嘉纯巩琪娟
Owner GUANGZHOU UNIVERSITY
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