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Adaptive control method for robotic arm system based on time-varying asymmetric obstacle Lyapunov function

A technology of adaptive control and control method, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of poor motion performance of the system, unstable operation of the system, and difficulty in ensuring the steady-state performance and Transient performance and other issues

Active Publication Date: 2020-01-14
NINGBO YAOHUA ELECTRIC TECH
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Problems solved by technology

[0003] There are often uncertain parts of the system in the servo system of the manipulator. If the controller is designed by ignoring the influence of these uncertain parts on the system, it may lead to poor motion performance of the system or even unstable operation of the system.
In addition, the system often outputs constraints in the actual operation process, and the constraints are not necessarily symmetrical
Algorithms such as PID control and adaptive control are often difficult to guarantee the steady-state performance and transient performance of the system at the same time, and it is necessary to repeatedly adjust the controller parameters to improve system performance

Method used

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  • Adaptive control method for robotic arm system based on time-varying asymmetric obstacle Lyapunov function
  • Adaptive control method for robotic arm system based on time-varying asymmetric obstacle Lyapunov function
  • Adaptive control method for robotic arm system based on time-varying asymmetric obstacle Lyapunov function

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Embodiment Construction

[0128]The present invention will be further described below in conjunction with the accompanying drawings.

[0129] refer to Figure 1-Figure 7 , an adaptive control method for a manipulator system based on a time-varying asymmetric obstacle Lyapunov function, including the following steps:

[0130] Step 1, establish the servo system model of the manipulator;

[0131] 1.1, the servo system model of the manipulator is expressed in the following form

[0132]

[0133] in, and is the uncertain item of the system model, d 1 , d 2 is the external interference signal, q is the angular position of the mechanical arm joint, the angular position of the θ motor, K is the joint elastic coefficient, I, J are the inertial coefficients of the mechanical arm and the motor, M, g, L are the mass and gravity of the mechanical arm Acceleration and the length of the manipulator, τ is the control torque of the manipulator;

[0134] 1.2, Design a time-varying asymmetric barrier Lyapunov...

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Abstract

An adaptive control method for a robotic arm servo system based on a time-varying asymmetric obstacle Lyapunov function comprises the following steps of step 1, establishing a mathematical model of the robotic arm servo system, and designing the time-varying asymmetric obstacle Lyapunov function; step 2, designing an adaptive controller by using the time-varying asymmetric obstacle Lyapunov function and combining an inversion method; and step 3, analyzing stability. By setting the parameter value of a constraint boundary function, the adaptive control method provided by the invention can effectively solve the system output constraint problem and ensure the steady-state performance and transient performance of the system. In addition, the uncertain part of a neural network approximation model and the derivative of the virtual control quantity are used to effectively simplify the design of the controller, improve the robustness of the system to a certain extent, and enable the robotic arm servo system to achieve accurate and fast tracking control.

Description

technical field [0001] The invention relates to an adaptive control method of a manipulator system based on a time-varying asymmetric obstacle Lyapunov function, in particular to an adaptive control method for a manipulator servo system whose system contains asymmetric output constraints and model uncertain items. Background technique [0002] The servo system of the manipulator has been widely used in high-tech fields such as robotics and medical treatment. Improving the steady-state performance and transient performance of the manipulator is of great significance and has become a research hotspot for scholars at home and abroad. Aiming at how to effectively improve the motion performance of the system, a variety of control methods have been proposed at home and abroad, including PID control, adaptive control, sliding mode control, neural network control, backstepping control, transient control, etc. Among them, the backstepping control has a simple algorithm, and can decom...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强丁科新徐栋南余荣
Owner NINGBO YAOHUA ELECTRIC TECH
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