Mechanical hand robust tracking control method based on self-adaptive fuzzy sliding mode

An adaptive fuzzy and tracking control technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of unmodeled, unstable system, aggravated the chattering phenomenon of sliding mode control, etc., to eliminate chattering, accurate The effect of track tracking

Active Publication Date: 2020-09-04
TAIZHOU UNIV
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Problems solved by technology

However, there is a high-frequency chattering problem in the sliding mode control, and the vibration is affected by the switching gain of the sliding mode controller. Usually, in order to ensure the stability of the system, a sufficiently large switching gain is selected, thereby exacerbating the chattering phenomenon of the sliding mode control
This chattering can cause unmodeled high-frequency components present in the system and even cause system instability

Method used

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  • Mechanical hand robust tracking control method based on self-adaptive fuzzy sliding mode
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  • Mechanical hand robust tracking control method based on self-adaptive fuzzy sliding mode

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[0092] A control algorithm for the contour error of the servo system proposed by the present invention will be described in detail below in conjunction with the accompanying drawings. In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "left", "right", "upper", "lower", "bottom" etc. is based on the orientation or positional relationship shown in the drawings The positional relationship is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, "first", "second", etc. It does not indicate the importance of components, so it should not be construed as limiting the present invention. The specific dimensions used in this embodiment are only for illustrating the technical solution, and do not limit the p...

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Abstract

The invention discloses a mechanical hand robust tracking control method based on a self-adaptive fuzzy sliding mode. The mechanical hand robust tracking control method adopts sliding mode control torealize mechanical hand trajectory tracking, regulates switching gain of a sliding mode control algorithm through a self-adaptive fuzzy logic system, and reduces sliding mode control buffet; and a robust controller is adopted to compensate for un-modeled dynamics and external disturbances. According to simulation experiment performed by a two-freedom mechanical hand, a sliding mode control input signal is smooth under action of the mechanical hand robust tracking control method based on the self-adaptive fuzzy sliding mode, so that the mechanical hand has higher trajectory tracking precision.

Description

technical field [0001] The invention belongs to the technical field of manipulator system control, in particular to a manipulator robust tracking control algorithm based on self-adaptive fuzzy sliding mode. Background technique [0002] The multi-joint manipulator system has the characteristics of strong coupling, time-varying, and nonlinearity. In recent years, the high-precision control of manipulators has attracted extensive attention from academia and industry. At present, a series of achievements have been made in the research on the trajectory tracking problem in the joint space of the manipulator, and control algorithms such as sliding mode control, adaptive control and robust control have been proposed. Among them, the sliding mode controller has a simple algorithm and strong robustness to parameter changes and disturbances, and is especially suitable for high-precision tracking control of nonlinear systems such as manipulators. However, there is a problem of high-f...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1607B25J9/161B25J9/1664
Inventor 王三秀
Owner TAIZHOU UNIV
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