Cooperative game optimal tracking control method and system for input-limited mechanical arm

Abstract

The invention relates to a cooperative game optimal tracking control method and system for an input limited mechanical arm, and the method comprises the steps: building the state space description of each joint based on a kinetic model of each joint in an input limited mechanical arm system; constructing a state space equation of the mechanical arm system based on the state space description of each joint; then, a performance index function of the input limited mechanical arm system is constructed based on the error fusion function; a Hamiltonian function of the input limited mechanical arm system is obtained based on the performance index function; secondly, based on the performance index function, the Hamiltonian function and the stability condition, a control law of the input-limited mechanical arm system is constructed; and finally, updating the control law based on a state variable error and a trigger threshold value of the system. According to the method, the complexity of the design process is reduced, the calculated amount in the operation process is reduced, the control torque in the tracking process is more continuous and smoother, and the comprehensive energy consumption of the mechanical arm system is optimal.

Description

technical field [0001] The invention relates to the technical field of robot control algorithms, in particular to an optimal tracking control method and system for a cooperative game with limited input manipulators. Background technique [0002] The reconfigurable manipulator consists of a series of joint modules with standard interfaces, and is an intelligent manipulator that can change its configuration arbitrarily as needed. Compared with the traditional industrial manipulator with a single configuration, the reconfigurable manipulator has high flexibility and wide adaptability. When facing different working environments, it can be reconfigured to adapt to the environment by adding or reducing modules. shape. With the advancement of robotic arm technology and the development of the robotic arm industry, reconfigurable robotic arms have been recognized by more and more people, and have been widely used in many fields such as space exploration, deep sea exploration, disast...

AI Technical Summary

Problems solved by technology

But for the input-limited manipulator system, since we did not consider the information exchange between joints when designing the controller, the above optimal tracking control strategy is only locally optimal

Moreover, when the manipulator system is running stably, if the periodic sampling method is still used, the calculation burden of the system will be increased, resulting in a large waste of communication resources

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