Soft robot sliding mode control method

Abstract

The invention provides a sliding-mode control method for a soft robot, 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; designing a controller, designing a compensator, and defining a sliding mode surface; and the stability of the system and the system always residing in the sliding block area are proved. The observer solves the problem of low tracking precision caused by the fact that a flexible body structure of a soft robot cannot measure angular velocity information, a sliding block area is used for simplifying an estimation error dynamic equation of the sliding-mode observer, parameters are reduced, engineering implementation is facilitated, and the problem of robust control of uncertain items of a system of the robot is solved by adopting a sliding-mode algorithm. The effectiveness of the method is verified through comparison simulation and experiments.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a sliding mode control method of a soft robot. 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 highly elastic materials, its structure changes with the change of the internal and external pressure difference, so that the state sensors made of traditional rigid materials such as tachometers, stopwatches, and gyroscopes cannot be used for the state measurement of this type of robot, otherwise the rigidity The material will destroy the unique flexibility of the soft robo...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the problem of poor robustness of the existing soft robot closed-loop system, and propose a soft robot sliding mode control method, which can significantly improve the robustness of the soft robot closed-loop system

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