Fixed time control method considering parameter uncertainty and interference of mechanical arm

Abstract

The invention discloses a fixed time control method considering the parameter uncertainty and the interference of a mechanical arm. An end control method based on a robust control theory for a fixed time is adopted, the parameter uncertainty and the external interference of a mechanical arm system are considered, and tracking control over an expected space track of an end executer for the mechanical arm is realized. Great robust performance can be achieved for the parameter uncertainty and the external interference of the system, and the effects of the interference and the uncertainty on the system are suppressed, and a high-accuracy tracking control effect within the fixed time is obtained.

Description

technical field [0001] The invention relates to the field of tracking the expected space trajectory of a six-degree-of-freedom mechanical arm end effector considering parameter uncertainty and external interference, and specifically relates to a fixed time control method considering the parameter uncertainty and interference of the mechanical arm. Background technique [0002] At present, in the field of sliding mode control methods for end tracking of six-degree-of-freedom manipulators, traditional sliding mode control methods are mostly used. From the perspective of mathematical mechanism, its switching control characteristics are related to the symbolic function sgn(). The application of sliding mode control and PID composite controller is to ensure the global asymptotic stability of the output tracking error of the robot, but it cannot guarantee the actual effect requirement of limited time. At the same time, since the output contains symbolic function items, when it is ...

AI Technical Summary

Problems solved by technology

The application of sliding mode control and PID composite controller is to ensure the global asymptotic stability of the output tracking error of the robot, which cannot guarantee the actual effect requirements of limited time

At the same time, since the output contains symbolic function items, when it is sent into the control system as an input signal, it means that the sliding mode controller needs to switch signals at high frequencies when designing the sliding mode controller, which will cause jitter and smoothness of control cannot be guaranteed

In order to use the continuous sliding mode control method of the robust differential estimator, but it is necessary to add an additional robust differential estimator, the design is complicated, and the tracking characteristics of the differential estimator will cause a reverse peak value in the initial stage, and the response speed is slow. As a result, its speed regulation performance is reduced, and the requirements for control accuracy cannot be met.

[0003] According to the fact that the existing robust control technology of the manipulator cannot overcome the defect that the required tracking accuracy can be achieved within a given time in consideration of the parameter uncertainty of the manipulator system and external interference, the purpose of the invention is to provide a Fixed time control method to solve the problem of fixed time control

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