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Trajectory Tracking Method of Terminal Sliding Mode Manipulator Based on Fractional Power Reaching Law

A terminal sliding mode and trajectory tracking technology, which is applied in the direction of instruments, adaptive control, control/adjustment systems, etc., can solve the problems that the system cannot achieve the ideal sliding mode, large chattering of the controller, and large tracking error, etc., and achieve the expansion The effect of performance adjustment range, reduction of chattering and improvement of efficiency

Active Publication Date: 2020-03-24
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the frequent switching of the control structure during the control process, the output of the controller has a large chattering phenomenon, resulting in the system not being able to achieve the ideal sliding mode.
Based on the chattering problem, many advanced methods have been proposed, for example, boundary layer method, sliding mode area method, approach rate method, etc., which can overcome or reduce chattering to a certain extent, but all take longer The response time or tracking error is relatively large

Method used

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  • Trajectory Tracking Method of Terminal Sliding Mode Manipulator Based on Fractional Power Reaching Law
  • Trajectory Tracking Method of Terminal Sliding Mode Manipulator Based on Fractional Power Reaching Law
  • Trajectory Tracking Method of Terminal Sliding Mode Manipulator Based on Fractional Power Reaching Law

Examples

Experimental program
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Embodiment

[0046] figure 1 It is a flow chart of the trajectory tracking method of the terminal sliding model manipulator based on the fractional power reaching law of the present invention.

[0047] In this embodiment, the present invention is applied to the control of a six-degree-of-freedom robot arm, that is, trajectory tracking is performed on six joint angles of the robot arm. Combine below figure 1 , a method for tracking the trajectory of the terminal sliding model manipulator based on the fractional power reaching law of the present invention is described in detail, which specifically includes the following steps:

[0048] S1. According to the specific task requirements, set the expected six-degree-of-freedom manipulator end pose sequence information as P, P∈R 4 ×4 is a homogeneous transformation matrix, and the terminal pose information P is solved by the inverse kinematics of the manipulator to the expected joint angle q of each joint d ,q d ∈R 6 and q d =[q d1 ,q d2 ...

example

[0084] In this example, we first verify the feasibility of the method proposed by the present invention when the fractional order a=0.25. Then, when the integer order a=0 and the fractional order a=0.511, a comparative analysis is carried out. The parameters used in the simulation are described below.

[0085] Suppose there are twelve states x∈R inside the six-degree-of-freedom manipulator system 12 and

[0086] The expected trajectory of each joint angle is:

[0087] q d1 =3.75-(7 / 5)e -t +(7 / 20)e -4t ,q d2 =1.25+e -t -(1 / 4)e -4t ,q d3 =1.25-(6 / 5)e -t +(6 / 20)e -4t ,

[0088] q d4 =3.25-e -t +(5 / 20)e -4t ,q d5 =0.25-(4 / 5)e -t +(4 / 20)e -4t ,q d6 =4.25-(3 / 5)e -t +(3 / 20)e -4t .

[0089] The initial state of the robotic arm system is selected as:

[0090] q i (0)=0.3491, (i=1,2,4,6),q 3 (0)=2,q 5 (0)=0.1,

[0091] The external interference term is:

[0092] τ di =0.2sin(t)+0.05sin(200πt), i=1,3,4,6,τ d2 =0.1cos(2t)+0.05sin(200πt),

[0093] τ d5 =...

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Abstract

The invention discloses a terminal sliding mode manipulator trajectory tracking method based on the fractional power reaching law. By designing the switching control of the adaptive rate of the uncertain upper bound and the fractional power reaching law, the system state is more accurate. Converge quickly to the sliding mode surface, and then use the sliding mode characteristic of the non-singular fast terminal sliding mode surface to make the system state converge to the equilibrium point faster in a limited time, that is, the tracking error converges to 0, so as to achieve the desired joint Tracking of corner trajectories.

Description

technical field [0001] The invention belongs to the technical field of trajectory tracking of a six-degree-of-freedom robot arm, and more specifically relates to a method for tracking the trajectory of a terminal sliding model robot arm based on a fractional power reaching law. Background technique [0002] With the development of control theory and mechanical technology, the mechanical arm has been more and more widely used in the industrial field. However, the manipulator system is a complex nonlinear model. At the same time, it is very difficult to accurately establish a manipulator model because the model parameters cannot be accurately measured, resulting in modeling mismatch. In addition, the model will be affected by external unknowns in actual control. The impact of interference. Now in the industrial field, when manipulators perform complex tasks, the high precision of trajectory tracking is the main concern. Therefore, the motion control of manipulators has becom...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 殷春程玉华薛建宏张博周静胡彬杨时晓宇
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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