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Underactuated mechanical arm layering sliding mode control method based on fuzzy optimization

A technology of fuzzy optimization and manipulators, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of the hierarchical sliding mode control method, such as steady-state time and control accuracy, which need to be optimized urgently, and achieve the effect of solving chattering problems

Active Publication Date: 2018-12-11
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

However, the hierarchical sliding mode control method still needs to be optimized in terms of control steady-state time and control accuracy.

Method used

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  • Underactuated mechanical arm layering sliding mode control method based on fuzzy optimization
  • Underactuated mechanical arm layering sliding mode control method based on fuzzy optimization
  • Underactuated mechanical arm layering sliding mode control method based on fuzzy optimization

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Embodiment Construction

[0062] In order to better understand the technical solutions of the present invention, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0063] It should be clear that the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0064] The hierarchical sliding mode control method of underactuated manipulator based on fuzzy optimization includes the following steps:

[0065] 1. Establish a planar two-degree-of-freedom active-passive (AP-type) underactuated manipulator dynamics model, simplify the nonlinear coupling dynamics model into an affine nonlinear system form, and take two joint angles as control targets; 2. Design a layered sliding mode controller...

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Abstract

The embodiment of the invention discloses an underactuated mechanical arm layering sliding mode control method based on fuzzy optimization. The method comprises the steps that a plane two-freedom-degree active-passive (AP) underactuated mechanical arm dynamical model is set up, a nonlinear coupling dynamical model is simplified into an affine nonlinear system, and two joint angles are adopted as control targets; then, layering sliding mode controllers are designed, a subsystem is formed by the angle and the angular speed of each joint, the equivalent input of the two subsystems is solved, a sliding mode main switching surface is constructed through a Lyapunov feedback function, and the control rate is obtained; and finally, a fuzzy rule is designed to dynamically optimizing the switching robust item in the sliding mode control rate, and the buffeting problem existing in a previous control system is solved. Compared with other plane two-freedom-degree AP mechanical arm control methods,by means of the technical scheme, the steady-state time of the control process can be reduced, and the control precision can be improved.

Description

【Technical field】 [0001] The invention belongs to the technical field of automation control, relates to fuzzy control and layered sliding mode control, in particular to a layered sliding mode control method of an underactuated manipulator based on fuzzy optimization. 【Background technique】 [0002] Space operations often require that the manipulator has sufficient flexibility and redundancy. In a microgravity environment, the robotic arm can use extremely light-weight materials such as high-strength carbon fiber, but the drive motor cannot be made very light at present. On the premise of being able to complete the required movements, the use of non-driven joints can greatly reduce the weight, thereby greatly reducing the cost of sending payloads to satellite orbits. [0003] In the controller design of the underactuated manipulator system, it is difficult to use the general feedback method to control it because it does not meet the necessary condition of Brockett's smooth f...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16
Inventor 高欣翟林任泽宇刘惠禾
Owner BEIJING UNIV OF POSTS & TELECOMM
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