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Adaptive fault-tolerant anti-interference control method of mechanical arm system

A technology of adaptive controller and control method, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the reduction of system fault tolerance

Pending Publication Date: 2019-12-03
NANJING NORMAL UNIVERSITY
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Problems solved by technology

[0016] Purpose of the invention: In view of the problems in the prior art that the fault tolerance of the system is reduced due to the neglect of mismatching interference and actuator jamming, the present invention provides an adaptive fault-tolerant and anti-interference control method for the manipulator system

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  • Adaptive fault-tolerant anti-interference control method of mechanical arm system
  • Adaptive fault-tolerant anti-interference control method of mechanical arm system
  • Adaptive fault-tolerant anti-interference control method of mechanical arm system

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Embodiment Construction

[0058] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention.

[0059] This embodiment provides an adaptive fault-tolerant and anti-interference control method for a manipulator system. The method specifically includes the following steps:

[0060] Step 1, establishing a mathematical model of the manipulator system;

[0061] The control problem of manipulator is a valuable research topic. The dynamics of the manipulator are defined by the following nonlinear equation:

[0062]

[0063] The definitions of variables and parameters of system (1) are shown in Table 1.

[0064] Table 1: Define variables and parameters in the robot arm

[0065]

[0066]

[0067] Define tracking error:

[0068]

[0069] where q d...

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Abstract

The invention discloses an adaptive fault-tolerant anti-interference control method of a mechanical arm system. The method comprises the following steps of 1, establishing a nonlinear system which ismore general than a mechanical arm system and has the unknown parameters and the mismatching disturbance; 2, designing a disturbance observer for the unknown mismatching disturbance; and 3, aiming atthe nonlinear system, designing an adaptive controller according to the disturbance estimated by a disturbance observer and the faults of an actuator of a mechanical arm, and carrying out the stability analysis on the adaptive controller. By introducing the power integrator technology, a new adaptive control scheme is provided, and aiming at the uncertain actuator faults, such as actuator jamming,etc., a novel fault-tolerant control method is provided, and the adaptive controller designed by the invention can ensure the stable input state of a closed-loop system.

Description

technical field [0001] The invention belongs to the field of automation technology and control, in particular to an adaptive fault-tolerant and anti-interference control method of a manipulator system. Background technique [0002] The fault-tolerant control of the manipulator system is a control technology that can eliminate the impact of the fault on the manipulator system and restore it to a reasonable performance index. Fault-tolerant control has special research significance for engineering systems, especially systems that require high safety requirements, such as navigation engineering systems, power systems, and chemical systems. Therefore, fault-tolerant control has received great attention from scholars at home and abroad, and has become an important direction in the field of control. Various fault-tolerant control (FTC) methods have been studied in recent years to solve the control problems presented in literature [1-4]. Literature [5] solves the adaptive fuzzy d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 刘文慧齐晓静张雷钱伟行谢非
Owner NANJING NORMAL UNIVERSITY
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