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Observer-based filter control method for multi-arm manipulator output consistent adaptive command

A filter control and manipulator technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as failure, control system efficiency reduction, etc., and achieve the effect of eliminating needs

Active Publication Date: 2022-07-05
GUANGDONG UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the unknown dead zone that widely exists in the manipulator system often leads to reduced efficiency or even failure of the control system

Method used

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  • Observer-based filter control method for multi-arm manipulator output consistent adaptive command
  • Observer-based filter control method for multi-arm manipulator output consistent adaptive command
  • Observer-based filter control method for multi-arm manipulator output consistent adaptive command

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Embodiment Construction

[0080] Below in conjunction with specific embodiment, the present invention is further described:

[0081] like figure 2 As shown, the observer-based multi-arm manipulator output consistent adaptive command filtering control method described in this embodiment includes the following steps:

[0082] S1: Model the single-arm manipulator;

[0083] This embodiment adopts the currently widely used such as figure 1 For the single-arm manipulator shown, the equation model of the multi-single-arm manipulator is:

[0084]

[0085] In the above formula, i represents the ith single-arm manipulator, q i is the rotation angle, M i is the moment of inertia, m i is the mass of a single manipulator, l i is the length of the manipulator, g is the gravitational acceleration, for q i The second derivative of , D i (v i ) for the existing deadband input:

[0086]

[0087] The control objective of this embodiment is that the output of the multi-arm manipulator system can track a...

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Abstract

The invention discloses an observer-based multi-single-arm manipulator output consistent adaptive command filtering control method, modeling the dynamic characteristics of the multi-single-arm manipulator, and designing an adaptive controller by combining the backstepping method and the command filtering technology. In the controller design process, the fuzzy logic system is used to approximate the unknown items of the system, eliminating the need for an accurate dynamic model of the manipulator; the state observer is used to estimate the unmeasurable states in the system; the command filtering technique is used to solve the complex signal derivation" For the manipulator system output is constrained, the obstacle Lyapunov function is used to solve the output limited problem; for the mechanical connection part of the manipulator, the driver often has a non-smooth input dead zone phenomenon, and the slope of the input dead zone is used. The information compensates the effect of the input deadband on the system. The manipulator system output can effectively track the reference signal, and all signals are semi-globally bounded.

Description

technical field [0001] The invention relates to the technical field of artificial intelligence and control, and in particular to an observer-based multi-single-arm manipulator output consistent adaptive command filtering control method. Background technique [0002] The single-arm manipulator is currently the most widely used automated mechanical device in the field of robotics, and has been widely used in industrial manufacturing, medical, aerospace and semiconductor manufacturing. As the tasks become more and more complex, the single-arm manipulator system can no longer meet the actual needs. Compared with a single manipulator system, the multi-manipulator system has greater flexibility and higher reliability. Therefore, the coordinated control of the multi-arm manipulator system is a research hotspot in the field of robotics today. On the one hand, because the multi-agent system composed of multiple single-arm manipulators gradually gets rid of the dependence of the whol...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李鸿一郭子杰周琪鲁仁全曹亮
Owner GUANGDONG UNIV OF TECH
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