An intelligent control method for the predetermined precision positioning of a flexible manipulator

Abstract

The invention discloses an intelligent control method for the predetermined precision positioning of a flexible manipulator, which is characterized by comprising the following steps: 1) setting the parameters of the controller and the precision range of the tracking error [‑δ 1 ,δ 1 ]; 2) Obtain the angle q of the single-link flexible manipulator link according to the sensor 1 and the angle q of the motor shaft 2 , calculate the angular velocity of the single-link flexible manipulator link and the angular velocity of the motor shaft and the state variable x 1 ,x 2 ,x 3 ,x 4 ; 3) Combine the state variable x 1 ,x 2 ,x 3 ,x 4 and the desired trajectory y m (t) and its derivatives, calculate the input vector ξ(t) of the fuzzy logic system; 4) Apply the input vector ξ(t) to the fuzzy logic system, and sequentially calculate the fuzzy membership function of the fuzzy logic system, the fuzzy basis function fuzzy Basis function vector and extension function vector ψ(ξ(t)); 5) Combined with state variable x 1 ,x 2 ,x 3 ,x 4 , the desired trajectory y m (t) and its derivatives and expansion function vector ψ(ξ(t)), iteratively calculate state error z, intermediate variable ω, adaptive parameter θ and virtual controller α; 6) Combined with virtual controller α, calculate the single The input signal u(t) of the link flexible manipulator; 7) The controller drives the single-link flexible manipulator to move according to the input signal u(t), completes the trajectory tracking, and can perform strict convergence proof and stability analysis. Has good robustness and reliability.

Description

technical field [0001] The invention relates to the technical field of intelligent control of mechanical arms, in particular to an intelligent control method used for predetermined precision positioning of a flexible mechanical arm. Background technique [0002] Existing solutions, such as neural network-based control methods and PID control methods, have the following shortcomings: [0003] 1) The design of the controller is complex, and it is difficult to solve the parameters of the controller, which is slow and time-consuming, and it is difficult to achieve fast tracking of the desired trajectory and predetermined precision positioning of the flexible manipulator; 2) The uncertainty of the system parameters of the flexible manipulator and the system In the case of high nonlinearity, the control accuracy of the flexible manipulator is limited, and it cannot be guaranteed to be within any artificially given accuracy range; 3) The lack of modeling basis makes it impossible t...

AI Technical Summary

Problems solved by technology

[0003] 1) The design of the controller is complex, and the parameters of the controller are difficult to solve, the speed is slow, and it takes a long time. It is difficult to realize the fast tracking of the expected trajectory and the predetermined precision positioning of the flexible manipulator; 2) The uncertainty of the parameters of the flexible manipulator system and the system In the case of high nonlinearity, the control accuracy of the flexible manipulator is limited, and it cannot be guaranteed to be within the range of any artificially given accuracy; 3) lack of modeling foundation, resulting in the convergence and stability of the closed-loop control system cannot be obtained from the exact theory Assure

4) The robustness of the flexible manipulator control system cannot be guaranteed

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