Control Method of Flexible Manipulator Based on Nonlinear Active Disturbance Rejection Control Technology

Abstract

A flexible manipulator control method based on the non-linear active disturbance rejection control technique includes the steps of building a flexible manipulator system module, initializing the system state and controller parameters, designing a high-order tracking differentiator, designing a non-linear extended state observer, determining the observer parameters through a pole assignment mode and adding non-linear feedback. The extended state observer is designed and used for estimating the system state and external disturbance. The observer gain parameter is determined through the pole assignment mode. A non-linear feedback control law is designed, the effect that the system tracking error is rapid and stable and converges to the null point is guaranteed, and finally rapid and stable control over a flexible manipulator system is realized. By means of the flexible manipulator control method based on the non-linear active disturbance rejection control technique, the problem that the internal state of the system and external disturbance can not be observed is solved, the influences of non-linear links and uncertain items existing in the system are made up, the problem of a common PID control method is relieved, and the system can rapidly and stably track expected signals.

Description

technical field [0001] The invention relates to a control method of a flexible manipulator based on nonlinear active disturbance rejection control technology, which is suitable for position tracking control of a servo system of a flexible manipulator with uncertain items. Background technique [0002] As the robot system develops towards high speed, heavy load, and high precision, this will inevitably increase the elastic deformation of the components, which will cause a contradiction with the stability and accuracy of the robot's movement. Mechanical vibration, thereby making control of its tip position difficult. Therefore, the traditional research methods of rigid manipulators cannot be directly applied to the study of flexible manipulators. For this reason, people introduce a branch of mechanism dynamics—elastic dynamics into it, and a new kind of robot is produced: soft robot. Compared with the rigid manipulator, the flexible manipulator has more degrees of freedom, a...

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Problems solved by technology

However, it is difficult to observe the system state of the flexible manipulator, and it is difficult to apply an effective control amount to achieve precise control.

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