Robust control method and system for mobile manipulator based on nonlinear disturbance observer

Abstract

The present disclosure provides a method and system for robust control of a mobile manipulator based on a nonlinear disturbance observer, which acquires the geometric structure data and motion state data of the mobile manipulator; according to the acquired data, the Lagrangian principle is used to construct a mobile machine Arm dynamics equation; according to the obtained mobile manipulator dynamics equation, the inner and outer loop motion control is carried out, the inner loop adopts the robust control based on the nonlinear disturbance observer, and the outer loop adopts the backstepping method to achieve the desired task space trajectory to the joint space transformation; this disclosure uses a PD+SMC controller with a nonlinear disturbance observer to realize the tracking of the virtual velocity, which solves the problem that the dynamic model cannot be accurately modeled. For sudden time-varying unknown disturbances, a nonlinear The observer implements dynamic compensation for its observations.

Description

technical field [0001] The present disclosure relates to the technical field of stable tracking control of a differentially driven mobile manipulator in an uncertain environment, in particular to a robust control method and system for a mobile manipulator based on a nonlinear disturbance observer. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. [0003] The mobile robotic arm is a robot that combines a mobile platform and a robotic arm that can move and complete tasks. It combines the advantages of mobile robots and fixed-base robots, but it is difficult to control, and it needs to face various uncertain factors and the influence of the robot's internal coupling. In recent years, mobile robotic arms have been widely cited and received high attention from various industries due to their numerous advantages. [0004] However, the inventors found ...

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Problems solved by technology

[0008] In order to solve the deficiencies of the prior art, the present disclosure provides a robust control method and system for a mobile manipulator based on a nonlinear disturbance observer, which adopts an inner and outer loop control strategy, and the outer loop adopts a backstepping method to design a controller to realize the task-by-task The transformation from space to joint space generates the corresponding virtual velocity control quantity. The inner loop adopts the PD+SMC controller with nonlinear disturbance observer to track the virtual velocity. The PD part replaces the small part of the SMC controller. Solve the problem that the dynamic model cannot be accurately modeled; the switching part in the SMC realizes partial compensation for external disturbances, and for sudden time-varying unknown disturbances, the nonlinear observer is used to realize dynamic compensation for its observations

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