A multi-axis robot model consistency control method based on neighbor event driving

Abstract

The application provides a kind of multi-axis robot model consistency control method based on neighbor event driving, first establish nonlinear multi-robot system and the dynamics model of corresponding robot, including a leader robot and several sub-robots;Sub-robot obtains the state information of neighbor sub-robot according to neighbor relationship;When the leader robot sends the leader signal, the sub-robot obtains the state information of the leader robot, the state information of neighbor sub-robot according to its own state information and the connection relationship with neighbor robot, then calculates the consistency error signal of the sub-robot;Design its neighbor event trigger mechanism and sub-robot consistency controller, based on neighbor event trigger mechanism, adjust the parameters of sub-robot consistency controller according to consistency error signal, generate the control signal of the sub-robot.The application can solve the consistency control problem of multi-agent system, reduce communication load by introducing neighbor event trigger mechanism, reduce system communication burden, improve system communication efficiency.

Description

Technical Field

[0001] This invention relates to the field of intelligent collaborative control technology, and more specifically, to a model consistency control method for a multi-axis robotic arm based on neighbor event-driven approaches. Background Technology

[0002] In multi-agent control systems, communication and computation are critical issues. Each sub-agent in the system needs to compute and process large amounts of data and information. If each sub-agent communicates with other agents in the system, there will inevitably be a massive information transmission and computational load, which is a huge burden on the control system. Excessive communication also increases the energy consumption of the control system and the risk of communication errors.

[0003] Event-triggered mechanisms restrict interactions and information transmission between sub-agents by setting trigger conditions, allowing them to communicate only under specific conditions. This reduces communication burden and computational load. This control method offers significant advantages and is increasingly being applied to multi-agent control, attracting the attention and research of various researchers.

[0004] Meanwhile, in the field of multi-agent cooperative control, the consistency problem is a fundamental issue in multi-agent system control. Consistency control aims to achieve consistent state and behavior across the entire control system. Consistency control involves information exchange, state updates, and decision-making among multiple agents. Currently, consistency control systems suffer from high energy consumption and low communication efficiency. Therefore, it is necessary to research suitable algorithms and mechanisms to maintain system consistency while maximizing communication efficiency. Summary of the Invention

[0005] To overcome the consistency control problem in multi-agent systems, this invention provides a consistency control method for a multi-axis robotic arm model based on neighbor event-driven mechanisms. The method introduces a neighbor event triggering mechanism to reduce communication load and improve system communication efficiency.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0007] This invention proposes a consensus control method for a multi-axis robotic arm model based on neighbor event-driven approaches, comprising:

[0008] A dynamic model of a nonlinear multi-manipulator system and its corresponding manipulators is established. The nonlinear manipulator system includes a leader manipulator and several sub-manipulators.

[0009] Each of the sub-robotic arms obtains the status information of its neighboring sub-robotic arms according to a preset neighbor relationship;

[0010] When the leader robot arm sends out the navigator signal, each of the sub-robot arms obtains the status information of the leader robot arm and the status information of the neighboring sub-robot arms according to its own status information and the connection relationship with the neighboring robot arms, and then calculates the consistency error signal of the sub-robot arm.

[0011] For each of the sub-robotic arms, design its neighbor event triggering mechanism and sub-robotic arm consistency controller;

[0012] Based on the neighbor event triggering mechanism, the parameters of the sub-robotic arm consistency controller are adjusted according to the consistency error signal, and the control signal of the sub-robotic arm is generated by the sub-robotic arm consistency controller.

[0013] Furthermore, the preset neighbor relationships include settings based on the physical distance between sub-arms in the nonlinear multi-arm system, settings based on the topological structure between sub-arms in the nonlinear multi-arm system, or settings based on the control requirements of sub-arms in the nonlinear multi-arm system.

[0014] Furthermore, the dynamic model of the nonlinear multi-manipulator system is as follows:

[0015]

[0016] in, and They represent the first The position, velocity, and acceleration of the robotic arm. and They represent the first The axis angle and axis angular velocity of the robotic arm Indicates the first The control input for the torque of the robotic arm , , , , and All parameters were set through the physical system of the multi-axis robotic arm. This indicates the number of robotic arms.

[0017] Furthermore, the consistency error signal for each sub-manipulator includes:

[0018] For each sub-arm, the leader arm's status information includes the navigator signal and the connection coefficient with each sub-arm; the neighboring sub-arm's status information includes its own control signal and the connection coefficient with that sub-arm.

[0019]

[0020] in, Indicates the first Consistency error signal of individual robotic arms It is the first The connection coefficient between the individual robotic arm and the leader robotic arm Indicates the first The individual robotic arm is able to communicate with the leader's robotic arm. Indicates the first The individual robotic arm cannot communicate with the leader robotic arm. Indicates the first The robotic arm and its first The connection coefficient between individual robotic arms Indicates the first The robotic arm can communicate with its first... Communication between individual robotic arms Then it means the first The robotic arm cannot be connected with its first... Communication between individual robotic arms It is the leader's robotic arm sending out a navigator's signal. Indicates the first The robotic arm next to the robotic arm.

[0021] Furthermore, the design of the neighbor event triggering mechanism includes:

[0022]

[0023] in, express The value of the control signal after passing through the neighbor event triggering mechanism. Indicates the first The first of the robotic arms The neighbor's robotic arm The control signal triggered next time , and All parameters are continuous and satisfy... , and ;

[0024] When the designed trigger threshold is triggered, the control signal of the neighboring sub-manipulator is transmitted to the sub-manipulator.

[0025] Furthermore, the design consistency controller includes:

[0026] No. The consistency controller for the individual robotic arm is designed as follows:

[0027]

[0028] in, yes The estimated value, Indicates the first Control parameters of a robotic arm Indicates the first The parameter vector of a robotic arm.

[0029] Furthermore, based on the neighbor event triggering mechanism, the parameters of the sub-robotic arm's consistency controller are adjusted according to the consistency error signal. Adjusting the control signal of the sub-robotic arm using the sub-robotic arm's consistency controller includes:

[0030] Determine whether the consistency error signal of the sub-robotic arm exceeds the trigger threshold. If so, adjust the parameters of the sub-robotic arm controller according to the consistency error signal of the sub-robotic arm, and adjust the control signal of the sub-robotic arm using the sub-robotic arm consistency controller.

[0031] Furthermore, the method includes a system-given desired signal, and when the error signal between the leader robotic arm signal and the desired signal exceeds a preset trigger threshold, the leader robotic arm emits a navigator signal.

[0032] This invention also proposes a neighbor event-driven multi-axis robotic arm model consensus control system to implement the aforementioned neighbor event-driven multi-axis robotic arm model consensus control method, comprising:

[0033] The model building module is used to establish the dynamic model of the nonlinear multi-manipulator system and the corresponding manipulator. The nonlinear manipulator system includes a leader manipulator and several sub-manipulators.

[0034] The status information acquisition module is used for each sub-manipulator to acquire the status information of neighboring sub-manipulators according to a preset neighbor relationship;

[0035] The consistency error calculation module is used to calculate the consistency error signal of each sub-manipulator when the leader robot arm sends a navigator signal, based on its own state information and the connection relationship with the neighboring robot arm.

[0036] The neighbor triggering mechanism and consistency controller design module is used to design the neighbor event triggering mechanism and the sub-manipulator consistency controller for each of the sub-manipulators.

[0037] The control signal generation module is used to adjust the parameters of the sub-manipulator consistency controller based on the consistency error signal according to the neighbor event triggering mechanism, and to generate the control signal of the sub-manipulator using the sub-manipulator consistency controller.

[0038] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0039] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

[0040] This invention proposes a consensus control method for a multi-axis robotic arm model based on neighbor event-driven principles. The method first establishes a dynamic model of a nonlinear multi-agent robotic arm system and its corresponding arms, including a leader robotic arm and several sub-arms. Sub-arms acquire the state information of their neighboring sub-arms based on neighbor relationships. When the leader robotic arm issues a navigator signal, each sub-arm acquires the state information of both the leader and neighboring sub-arms based on its own state information and its connection relationships with neighboring arms, and then calculates its consensus error signal. A neighbor event triggering mechanism and a sub-arm consensus controller are designed. Based on the consensus error signal, the parameters of the sub-arm consensus controller are adjusted according to the consensus error signal using the neighbor event triggering mechanism to generate the control signal for the sub-arm. This invention solves the consensus control problem of multi-agent systems by introducing a neighbor event triggering mechanism to reduce communication load, decrease system communication burden, and improve system communication efficiency. Attached Figure Description

[0041] Figure 1 This is a flowchart illustrating the consensus control method for a multi-axis robotic arm model based on neighbor event-driven approaches described in Example 1.

[0042] Figure 2 This is a diagram illustrating the application scenario of the neighbor event triggering mechanism described in Example 2 during rice transplanting in paddy fields.

[0043] Figure 3 This is a simulation result diagram of the position of the robotic arm described in Example 2;

[0044] Figure 4 The graph shows the speed simulation results of the robotic arm described in Example 2;

[0045] Figure 5 The figure shows the acceleration simulation results of the robotic arm described in Example 2;

[0046] Figure 6 This is a simulation diagram of the consistency error of the output signal of the robotic arm described in Example 2;

[0047] Figure 7 This is a graph showing the number of events triggered by the robotic arm as described in Example 2;

[0048] Figure 8This is a schematic diagram of the structure of the multi-axis robotic arm model consistency control system based on neighbor event driving described in Example 3. Detailed Implementation

[0049] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this patent.

[0050] To better illustrate this embodiment, some parts in the accompanying drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions;

[0051] It will be understood by those skilled in the art that certain well-known structures and their descriptions may be omitted in the accompanying drawings.

[0052] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0053] Example 1

[0054] This embodiment provides a consensus control method for a multi-axis robotic arm model based on neighbor event-driven approaches, such as... Figure 1 As shown, it includes:

[0055] A dynamic model of a nonlinear multi-manipulator system and its corresponding manipulators is established. The nonlinear manipulator system includes a leader manipulator and several sub-manipulators.

[0056] Each of the sub-robotic arms obtains the status information of its neighboring sub-robotic arms according to a preset neighbor relationship;

[0057] When the leader robot arm sends out the navigator signal, each of the sub-robot arms obtains the status information of the leader robot arm and the status information of the neighboring sub-robot arms according to its own status information and the connection relationship with the neighboring robot arms, and then calculates the consistency error signal of the sub-robot arm.

[0058] For each of the sub-robotic arms, design its neighbor event triggering mechanism and sub-robotic arm consistency controller;

[0059] Based on the neighbor event triggering mechanism, the parameters of the sub-robotic arm consistency controller are adjusted according to the consistency error signal, and the control signal of the sub-robotic arm is generated by the sub-robotic arm consistency controller.

[0060] In the specific implementation process, each sub-robotic arm first obtains the status information of its neighboring sub-robotic arms according to the preset neighbor relationship. When the leader robotic arm sends a navigator signal, each sub-robotic arm obtains the status information of the leader robotic arm and the status information of its neighboring sub-robotic arms according to its own status information and the connection relationship with its neighboring robotic arms. Then, it calculates the consistency error signal of the sub-robotic arm. Finally, it designs its neighbor event triggering mechanism and sub-robotic arm consistency controller. Based on the neighbor event triggering mechanism, it adjusts the parameters of the sub-robotic arm consistency controller according to the consistency error signal and uses the sub-robotic arm consistency controller to generate the control signal of the sub-robotic arm.

[0061] Example 2

[0062] This embodiment provides a consensus control method for a multi-axis robotic arm model based on neighbor event-driven approaches, including:

[0063] A dynamic model of a nonlinear multi-manipulator system and its corresponding manipulators is established. The nonlinear manipulator system includes a leader manipulator and several sub-manipulators.

[0064] The dynamic model of the nonlinear multi-manipulator system is a third-order four-agent nonlinear multi-manipulator system, as detailed below:

[0065]

[0066] in, and They represent the first The position, velocity, and acceleration of the robotic arm. and They represent the first The axis angle and axis angular velocity of the robotic arm Indicates the first The control input for the torque of the robotic arm , , , , and All parameters are set through the physical system of the multi-axis robotic arm.

[0067] Then by definition and The following parameters are obtained in strict feedback form:

[0068]

[0069] in, The middle represents the first One robotic arm, This indicates the order of each robotic arm. It is the first The output of the robotic arm. .

[0070] Each of the sub-robotic arms obtains the status information of its neighboring sub-robotic arms according to a preset neighbor relationship;

[0071] The preset neighbor relationships are set according to the physical distance between sub-arms in the nonlinear multi-arm system, the topological structure between sub-arms in the nonlinear multi-arm system, or the control requirements of sub-arms in the nonlinear multi-arm system.

[0072] For each sub-arm, the leader arm's status information includes the navigator signal and the connection coefficient with each sub-arm; the neighboring sub-arm's status information includes its own control signal and the connection coefficient with that sub-arm.

[0073]

[0074] in, Indicates the first Consistency error signal of individual robotic arms It is the first The connection coefficient between the individual robotic arm and the leader robotic arm Indicates the first The individual robotic arm is able to communicate with the leader's robotic arm. Indicates the first The individual robotic arm cannot communicate with the leader robotic arm. Indicates the first The robotic arm and its first The connection coefficient between individual robotic arms Indicates the first The robotic arm can communicate with its first... Communication between individual robotic arms Then it means the first The robotic arm cannot be connected with its first... Communication between individual robotic arms It is the leader's robotic arm sending out a navigator's signal. Indicates the first The robotic arm next to the robotic arm.

[0075] Further define variables and for:

[0076]

[0077] Based on the backstepping method, for a nonlinear system with a relative order of 3, the following three-step process is designed to obtain the final controller:

[0078] Step 1: Represented as:

[0079]

[0080] in, and It is a parameter vector, a nonlinear function. It is known that the first step is the virtual controller. Set as:

[0081]

[0082] in, , , It is a vector of variables, and It is a positive parameter that is defined by the user, and and They are and The estimate.

[0083] Let the Lyapunov candidate function for the first step be:

[0084]

[0085] Then its derivative is:

[0086]

[0087] in For the first step The adjustment function of a robotic arm For the first The first robotic arm The adjustment function for each neighboring robotic arm is expressed as:

[0088]

[0089] Step 2: Represented as:

[0090]

[0091] in The derivative is:

[0092]

[0093] Obtain the virtual controller in step two for:

[0094]

[0095] in, and Let be a self-defined symmetric positive definite matrix, and in the second step... Adjustment function of a robotic arm and the first The first robotic arm Adjustment function of neighboring robotic arms for:

[0096]

[0097] in, and

[0098] Define the Lyapunov candidate function in the second step. for:

[0099]

[0100] Combining the previous definitions, we have:

[0101]

[0102] Step 3: Based on the defined error signal and system dynamics model, we can obtain:

[0103]

[0104] in, It is a neighbor control signal, a nonlinear function. It is known that if the designed threshold is triggered, the transmission of the neighbor control signal will begin.

[0105] The third step is the virtual controller. Designed as follows:

[0106]

[0107] In the third step Adjustment function of a robotic arm and the first The first robotic arm Adjustment function of neighboring robotic arms They are respectively:

[0108]

[0109] in, as well as

[0110] The final relative threshold neighbor event triggering mechanism is as follows:

[0111]

[0112] in, It is known. express The value of the control signal after passing through the event triggering mechanism. Indicates the first The first of the robotic arms The neighbor's robotic arm The control signal triggered next time... , and All parameters are continuous and satisfy... , and .and This is the controller update time. Adjacent control signals include control coefficient terms and unknown general constant terms.

[0113] No. The consistency controller for the individual robotic arm is designed as follows:

[0114]

[0115] in, yes The estimated value, Indicates the first Control parameters of a robotic arm Indicates the first The parameter vector of each sub-robotic arm. And it can obtain the parameter vector of the first... The update law for each robotic arm is:

[0116]

[0117] in, For a user-defined symmetric positive definite matrix, note that... It is possible.

[0118] definition for:

[0119]

[0120] It should be noted that if the initial value is set to... , So at this point, This holds true consistently. When the above conditions are met... and The update rule should follow the following form:

[0121]

[0122] For each of the sub-robotic arms, design its neighbor event triggering mechanism and sub-robotic arm consistency controller;

[0123] Based on the neighbor event triggering mechanism, the parameters of the sub-robotic arm consistency controller are adjusted according to the consistency error signal, and the control signal of the sub-robotic arm is generated by the sub-robotic arm consistency controller.

[0124] Determine whether the consistency error signal of the sub-robotic arm exceeds the trigger threshold. If so, adjust the parameters of the sub-robotic arm controller according to the consistency error signal of the sub-robotic arm, and adjust the control signal of the sub-robotic arm using the sub-robotic arm consistency controller.

[0125] In this embodiment, the method includes a system-given desired signal, and when the error signal between the leader robotic arm signal and the desired signal exceeds a preset trigger threshold, the leader robotic arm emits a navigator signal.

[0126] To verify the stability of the system, the final Lyapunov function is set as follows:

[0127]

[0128] in, By taking the derivative, we can obtain:

[0129]

[0130] Combining the formulas mentioned above, we can obtain:

[0131]

[0132] in, , , , All of these are set to be positive integers to avoid denominators of 0 in the expression.

[0133] As shown in the formula above, the parameters of the adjacent event triggering mechanism can be divided into control coefficient terms, bounded disturbance terms, and adjacent control signal terms. This model can be effectively handled by designing and incorporating multiple polynomial compensators. . use It can Rewritten as:

[0134]

[0135] Combining the update law described above, the final Lyapunov function is... The derivative is expressed as:

[0136]

[0137] in The inequality can be calculated through integration as follows:

[0138]

[0139] In summary, based on the principle of stability analysis, it can be known that... It is positive definite. Since the system is negatively definite, it is stable. Q.E.D.

[0140] To prevent Zeno's behavior from occurring, a lower bound is set for the execution interval:

[0141] definition It is bounded, and we can obtain:

[0142]

[0143] function Include variables You can get ,Right now ,in It is a positive constant. Let it be... Then you can get ,in It is a positive number.

[0144] This leads to the following inequality:

[0145]

[0146] Obtain the lower bound of the execution interval:

[0147]

[0148] By using the lower bound of the execution interval time, events are prevented from being triggered an infinite number of times within a finite time interval.

[0149] In this embodiment, the efficiency and scalability of the system are improved by restricting the interaction and information transmission between neighboring robotic arms. In this mechanism, information transmission and cooperation between sub-robotic arms are limited by neighbor relationships, ensuring that each sub-robotic arm only needs to exchange control signals with its neighboring robotic arms, rather than interacting with all sub-robotic arms in the entire control system. This invention solves the consistency control problem in multi-agent systems by introducing a neighbor event triggering mechanism to reduce communication load, thereby reducing system communication burden and improving system communication efficiency.

[0150] In practical implementation, the neighbor event triggering mechanism described in this embodiment is applied to a real-world rice transplanting system. For example... Figure 2The diagram illustrates an application scenario of the neighbor event triggering mechanism in rice transplanting. First, the expected action of rice transplanting is converted into a desired signal and transmitted to the leader robot arm. The error signal obtained by comparing the leader robot arm signal with the desired signal is compared with a relative threshold. If the threshold is exceeded, the leader robot arm executes the corresponding event to transplant rice and issues a navigator signal. Through the neighbor event triggering mechanism, it communicates with the sub-robot arm, which tracks the navigator signal to transplant rice, achieving consistent following control and completing efficient rice transplanting operations. Figure 3 , 4 Figures 5 and 6 show the simulation results of the robotic arm's position, velocity, and acceleration, respectively. It can be seen that the sub-robotic arm has the ability to quickly track the leader robotic arm. Figure 6 The figure shown is a simulation diagram of the consistency error of the robotic arm's output signal. The consistency error of the robotic arm's tracking control reaches a controllable range near zero, demonstrating excellent consistency control performance. Figure 7 As shown in the graph, which represents the number of times the robotic arm events are triggered, it can be seen that the event threshold conditions set by the neighbor event triggering mechanism are feasible.

[0151] Example 3

[0152] This embodiment also provides a neighbor event-driven multi-axis robotic arm model consistency control system to implement the neighbor event-driven multi-axis robotic arm model consistency control method described in Embodiment 1 or 2, such as... Figure 8 As shown, it includes:

[0153] The model building module is used to establish the dynamic model of the nonlinear multi-manipulator system and the corresponding manipulator. The nonlinear manipulator system includes a leader manipulator and several sub-manipulators.

[0154] The status information acquisition module is used for each sub-manipulator to acquire the status information of neighboring sub-manipulators according to a preset neighbor relationship;

[0155] The consistency error calculation module is used to calculate the consistency error signal of each sub-manipulator when the leader robot arm sends a navigator signal, based on its own state information and the connection relationship with the neighboring robot arm.

[0156] The neighbor triggering mechanism and consistency controller design module is used to design the neighbor event triggering mechanism and the sub-manipulator consistency controller for each of the sub-manipulators.

[0157] The control signal generation module is used to adjust the parameters of the sub-manipulator consistency controller based on the consistency error signal according to the neighbor event triggering mechanism, and to generate the control signal of the sub-manipulator using the sub-manipulator consistency controller.

[0158] The same or similar labels correspond to the same or similar parts;

[0159] The terms used to describe positional relationships in the accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent.

[0160] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A consensus control method for a multi-axis robotic arm model based on neighbor event-driven approaches, characterized in that, include: A dynamic model of a nonlinear multi-manipulator system and its corresponding manipulators is established. The nonlinear multi-manipulator system includes a leader manipulator and several sub-manipulators. Each of the sub-robotic arms obtains the status information of its neighboring sub-robotic arms according to a preset neighbor relationship; When the leader robot arm sends out the navigator signal, each of the sub-robots obtains the state information of the leader robot arm and the state information of the neighboring sub-robots according to its own state information and the connection relationship with the neighboring robot arms, and then calculates the consistency error signal of the sub-robot arm. For each of the sub-robotic arms, design its neighbor event triggering mechanism and sub-robotic arm consistency controller; Based on the neighbor event triggering mechanism, the parameters of the sub-robotic arm consistency controller are adjusted according to the consistency error signal, and the control signal of the sub-robotic arm is generated using the sub-robotic arm consistency controller; The design of the neighbor event triggering mechanism includes: in, express The value of the control signal after passing through the event triggering mechanism. Indicates the first The first of the robotic arms The neighbor's robotic arm The control signal triggered next time , and All parameters are continuous and satisfy... , and ; When the designed trigger threshold is triggered, the control signal of the neighboring sub-manipulator is transmitted to the sub-manipulator.

2. The multi-axis robotic arm model consistency control method based on neighbor event-driven approach according to claim 1, characterized in that, The preset neighbor relationships are set according to the physical distance between sub-arms in the nonlinear multi-arm system, the topological structure between sub-arms in the nonlinear multi-arm system, or the control requirements of sub-arms in the nonlinear multi-arm system.

3. The multi-axis robotic arm model consistency control method based on neighbor event-driven approach according to claim 2, characterized in that, The dynamic model of the nonlinear multi-manipulator system is as follows: in, and They represent the first The position, velocity, and acceleration of the robotic arm. and They represent the first The axis angle and axis angular velocity of the robotic arm Indicates the first The control input for the torque of the robotic arm , , , , and All parameters were set through the physical system of the multi-axis robotic arm. This indicates the number of robotic arms.

4. The multi-axis robotic arm model consistency control method based on neighbor event-driven approach according to claim 3, characterized in that, The consistency error signal for each sub-manipulator includes: For each sub-arm, the state information of the leader arm includes the navigator signal and the connection coefficient with each sub-arm; the state information of the neighboring sub-arm includes the control signal of its own arm and the connection coefficient with that sub-arm. in, Indicates the first Consistency error signal of individual robotic arms It is the first The connection coefficient between the individual robotic arm and the leader robotic arm Indicates the first The individual robotic arm is able to communicate with the leader's robotic arm. Indicates the first The individual robotic arm cannot communicate with the leader robotic arm. Indicates the first The robotic arm and its first The connection coefficient between individual robotic arms Indicates the first The robotic arm can communicate with its first... Communication between individual robotic arms Then it means the first The robotic arm cannot be connected with its first... Communication between individual robotic arms It is the leader's robotic arm sending out a navigator's signal. Indicates the first The robotic arm next to the robotic arm.

5. The model consistency control method for a multi-axis robotic arm based on neighbor event-driven approach according to claim 4, characterized in that, The design of the sub-manipulator consistency controller includes: No. The consistency controller for the individual robotic arm is designed as follows: in, yes The estimated value, Indicates the first Control parameters of a robotic arm Indicates the first The parameter vector of a robotic arm.

6. The multi-axis robotic arm model consistency control method based on neighbor event-driven approach according to claim 5, characterized in that, Based on the neighbor event triggering mechanism, the parameters of the sub-robotic arm's consistency controller are adjusted according to the consistency error signal. Adjusting the control signal of the sub-robotic arm using the sub-robotic arm's consistency controller includes: Determine whether the consistency error signal of the sub-robotic arm exceeds the trigger threshold. If so, adjust the parameters of the sub-robotic arm consistency controller according to the consistency error signal of the sub-robotic arm, and adjust the control signal of the sub-robotic arm using the sub-robotic arm consistency controller.

7. The multi-axis robotic arm model consistency control method based on neighbor event-driven approach according to claim 6, characterized in that, The method includes a system-given desired signal, and when the error signal between the leader signal emitted by the leader robotic arm and the desired signal exceeds a preset trigger threshold, the leader robotic arm emits a leader signal.

8. A neighbor event-driven multi-axis robotic arm model consensus control system, used to implement the neighbor event-driven multi-axis robotic arm model consensus control method according to any one of claims 1-7, characterized in that, include: The model building module is used to establish the dynamic model of the nonlinear multi-manipulator system and the corresponding manipulator. The nonlinear multi-manipulator system includes a leader manipulator and several sub-manipulators. The status information acquisition module is used for each sub-manipulator to acquire the status information of neighboring sub-manipulators according to a preset neighbor relationship; The consistency error calculation module is used to calculate the consistency error signal of each sub-manipulator when the leader robot arm sends a navigator signal, based on its own state information and the connection relationship with the neighboring robot arm. The neighbor triggering mechanism and consistency controller design module is used to design the neighbor event triggering mechanism and the sub-manipulator consistency controller for each of the sub-manipulators. The control signal generation module is used to adjust the parameters of the sub-manual arm consistency controller based on the consistency error signal according to the neighbor event triggering mechanism, and to generate the control signal of the sub-manual arm using the sub-manual arm consistency controller; The design of the neighbor event triggering mechanism includes: in, express The value of the control signal after passing through the event triggering mechanism. Indicates the first The first of the robotic arms The neighbor's robotic arm The control signal triggered next time , and All parameters are continuous and satisfy... , and ; When the designed trigger threshold is triggered, the control signal of the neighboring sub-manipulator is transmitted to the sub-manipulator.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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