Mechanical arm system adaptive trigger control based on all-drive system method
CN120134312BActive Publication Date: 2026-08-28HANGZHOU DIANZI UNIV
Patent Information
- Application Number
- CN202510477875.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-16
- Publication Date
- 2026-08-28
- Estimated Expiration
- 2045-04-16
AI Technical Summary
Technical Problem
[0004]然而，机械臂系统自身的参数摄动和摩擦，以及外界的扰动、测量噪声等都给机械臂的控制带来了困难
Benefits of technology
[0056]1、通过引入自适应策略实时调整控制参数有效降低了不确定性、外部扰动和过程故障对机械臂系统的影响，显著提升了系统的鲁棒性和容错性能。
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Figure CN120134312B_ABST
Abstract
The application discloses a kind of mechanical arm system adaptive trigger control based on all-drive system method, and the anti-saturation compensator designed for input saturation problem effectively suppresses the influence of input saturation on system performance.Adaptive strategy is used to adjust the control parameters of the controller in real time, which significantly improves the robustness of the system to uncertainty and external disturbance, and enhances the fault tolerance capability.In addition, an event-triggered mechanism based on controller amplitude switching strategy is proposed, which can dynamically adjust the trigger condition according to the amplitude of the control signal, optimizing the use efficiency of network communication resources while ensuring control accuracy.Using this method can effectively handle the complex problems such as uncertainty, component failure, external disturbance and input saturation in multi-joint robot system, which has important significance for industrial control applications.
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Citation Information
Patent Citations
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