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A Hierarchical Sliding Mode Control Method for Underactuated Manipulator Based on Fuzzy Optimization

A technology of fuzzy optimization and control methods, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the steady-state time and control accuracy of hierarchical sliding mode control methods that need to be optimized urgently

Active Publication Date: 2021-11-09
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.

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  • A Hierarchical Sliding Mode Control Method for Underactuated Manipulator Based on Fuzzy Optimization
  • A Hierarchical Sliding Mode Control Method for Underactuated Manipulator Based on Fuzzy Optimization
  • A Hierarchical Sliding Mode Control Method for Underactuated Manipulator 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 use two joint angles as control targets; 2. Design layers Sliding mode controller, whic...

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Abstract

The embodiment of the invention discloses a layered sliding mode control method of an underactuated manipulator based on fuzzy optimization. Including: establishing a planar two-degree-of-freedom active-passive (AP-type) underactuated manipulator dynamics model, simplifying the nonlinear coupling dynamics model into an affine nonlinear system form, and taking two joint angles as control targets; then, Design a layered sliding mode controller, combine the angle and angular velocity of each joint into a subsystem, solve the equivalent input of the two subsystems, and use the Lyapunov feedback function method to construct the total switching surface of the sliding mode to obtain the control rate; finally, The fuzzy rule is designed to dynamically optimize the switching robust item in the sliding mode control rate to solve the chattering problem existing in the previous control system. Compared with other planar two-degree-of-freedom AP-type manipulator control methods, the technical solution proposed in the embodiment of the present invention can reduce the steady-state time of the control process and improve the control accuracy.

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 Patents(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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