Soft robot robust adaptive control method based on disturbance observer

Abstract

The invention provides a soft robot robust adaptive control method based on a disturbance observer, and the method comprises the following steps: designing a sliding-mode observer, obtaining an estimation error dynamic equation according to the structure of the sliding-mode observer, and simplifying the estimation error dynamic equation through a sliding block region; establishing a dynamic model of the soft robot, defining an expected trajectory and a tracking error, and substituting the expected trajectory and the tracking error into the dynamic model of the soft robot to obtain a tracking error model; performing adaptive updating on the uncertainty upper boundary of the system through a disturbance observer; designing a controller and a compensator for the tracking error model based on a sliding mode observer and a disturbance observer, and defining a sliding mode surface; and the stability of the system and the system always residing in the sliding block area are proved. According to the control method provided by the invention, the disturbance observer is introduced, the problem that the uncertainty boundary of the system is unknown in the prior art is solved, and the robustness and tracking precision of the soft robot are improved.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a robust adaptive control method for soft robots based on disturbance observers. Background technique [0002] Soft robots use highly elastic silicon and rubber materials to make their bodies. Compared with traditional robots made of rigid materials, soft robots are inherently flexible to the environment, inherently safe to the human body, and inherently adaptive to objects. It has important application value in medical rehabilitation, military reconnaissance, industrial grabbing and other fields. [0003] Since the soft robot is made of high elastic materials, its structure changes with the change of the internal and external pressure difference, so there are three control difficulties in the control of the soft robot: a) The structure of the soft robot can be deformed, resulting in a certain modeling error in the dynamic model; The disturbance of the actual engineering env...

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Problems solved by technology

[0004] Aiming at the three control difficulties of the soft robot, the present invention respectively adopts the sliding mode algorithm known for its robustness to solve the problem of uncertainty in the soft robot system; uses a disturbance observer to solve the problem that the upper boundary information of the system uncertain item is unknown; Using state observer to solve the problem of unmeasurable part state of the system

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