CN112643673B - Mobile mechanical arm robust control method and system based on nonlinear disturbance observer - Google Patents

Mobile mechanical arm robust control method and system based on nonlinear disturbance observer Download PDF

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CN112643673B
CN112643673B CN202011468196.9A CN202011468196A CN112643673B CN 112643673 B CN112643673 B CN 112643673B CN 202011468196 A CN202011468196 A CN 202011468196A CN 112643673 B CN112643673 B CN 112643673B
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mechanical arm
disturbance observer
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CN112643673A (en
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宋锐
郑玉坤
李凤鸣
高嵩
刘义祥
李贻斌
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Shandong University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop

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Abstract

The invention provides a moving mechanical arm robust control method and system based on a non-linear interference observer, which are used for acquiring geometric structure data and motion state data of a moving mechanical arm; according to the acquired data, a dynamic equation of the mobile mechanical arm is constructed by utilizing the Lagrange principle; according to the obtained dynamic equation of the mobile mechanical arm, motion control of an inner ring and an outer ring is carried out, the inner ring adopts robust control based on a nonlinear disturbance observer, and the outer ring adopts a backstepping method to realize conversion of an expected task space trajectory to a joint space; the method adopts the PD + SMC controller with the nonlinear disturbance observer to realize the tracking of the virtual speed, solves the problem that a dynamic model cannot be accurately modeled, and adopts the nonlinear observer to realize dynamic compensation for the observation of the sudden unknown time-varying disturbance.

Description

Mobile mechanical arm robust control method and system based on nonlinear disturbance observer
Technical Field
The disclosure relates to the technical field of stable tracking control of a differential-driven mobile mechanical arm in an uncertain environment, in particular to a robust control method and system of the mobile mechanical arm based on a nonlinear disturbance observer.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The movable mechanical arm is a robot which combines a movable platform and the mechanical arm, can move and can complete operation tasks. The robot combines the advantages of a mobile robot and a fixed base robot, but the control difficulty is high, and various uncertain factors and influences caused by internal coupling of the robot need to be faced. In recent years, mobile robots have been widely cited and have received high attention from various industries because of their numerous advantages.
However, the inventors have found that the moving robot arm stability control remains a hot spot and a difficult problem:
firstly, a mobile mechanical arm is a composite system integrating a mobile robot and a fixed base robot, and the internal coupling effect of the mobile mechanical arm has great influence on the robot control;
second, for a mobile platform with incomplete constraints, it is a typical under-actuated multi-constraint nonlinear system, which results in a strongly coupled relationship for the whole system;
thirdly, the mobile mechanical arm faces to various uncertain factors such as friction, electromagnetic interference, sudden disturbance and influence of model uncertainty caused by the fact that the model is complex and cannot be accurately modeled in the operation process.
Disclosure of Invention
In order to solve the defects of the prior art, the robust control method and system for the mobile mechanical arm based on the nonlinear disturbance observer are provided, an inner ring and an outer ring are adopted for controlling strategies, the outer ring adopts a backstepping method to design a controller to realize the conversion from a task space to a joint space and generate corresponding virtual speed control quantity, the inner ring adopts a PD + SMC controller with the nonlinear disturbance observer to realize the tracking of virtual speed, the PD part replaces a small part in the SMC controller, and the problem that a dynamic model cannot be accurately modeled is solved; and a switching part in the SMC realizes partial compensation of external disturbance, and a nonlinear observer is adopted to realize dynamic compensation for observation of the sudden time-varying unknown disturbance.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
the first aspect of the disclosure provides a robust control method for a mobile mechanical arm based on a nonlinear disturbance observer.
A moving mechanical arm robust control method based on a nonlinear disturbance observer comprises the following steps:
acquiring geometric structure data and motion state data of the mobile mechanical arm;
according to the acquired data, a dynamic equation of the mobile mechanical arm is constructed by utilizing the Lagrange principle;
and performing inner and outer ring motion control according to the obtained dynamic equation of the mobile mechanical arm, wherein the inner ring adopts robust control based on a nonlinear disturbance observer, and the outer ring adopts a backstepping method to realize the conversion of the expected task space trajectory to joint space.
As some possible implementations, the inner loop follows speed using a proportional-derivative synovial control strategy with a disturbance observer.
As possible implementation modes, the incomplete constraint of the mobile mechanical arm is obtained according to the geometric structure data and the motion state data of the mechanical arm, and the dynamic equation of the mobile mechanical arm is obtained by combining the Lagrange principle.
As some possible implementations, the obtained dynamic equation is expressed in a state space form including two states, and the nonlinear disturbance observer is obtained by concentrating disturbance as a third state.
As some possible implementation modes, the outer ring control realizes the kinematic control of the mobile mechanical arm, a controller is designed by adopting a backstepping method, an error term is defined, and a forward differential kinematic equation of the mobile mechanical arm is substituted into a kinematic equation of the mobile mechanical arm to obtain a derivative of the current state;
and defining a candidate Lyapunov function, deriving and substituting the derivative of the error term and the derivative of the current state, and combining a virtual speed controller to obtain the kinematics controller of the outer loop control.
As some possible implementation modes, the inner ring control realizes robust control of the mobile mechanical arm, and the robust controller controlled by the inner ring is obtained according to the defined tracking error and the sliding mode function.
As a further limitation, the robust controller is specifically:
Figure BDA0002835282930000031
wherein, KpAnd KdAre respectivelyPositive definite diagonal matrix, η ∈ R6×6For positive diagonal synovial gain matrix, sgn(s) is a sign function.
A second aspect of the present disclosure provides a robust control system for a mobile manipulator based on a non-linear disturbance observer.
A robust control system of a mobile mechanical arm based on a nonlinear disturbance observer comprises:
a data acquisition module configured to: acquiring geometric structure data and motion state data of the mobile mechanical arm;
a power model building module configured to: according to the acquired data, a dynamic equation of the mobile mechanical arm is constructed by utilizing the Lagrange principle;
a robust control module configured to: and performing inner and outer ring motion control according to the obtained dynamic equation of the mobile mechanical arm, wherein the inner ring adopts robust control based on a nonlinear disturbance observer, and the outer ring adopts a backstepping method to realize the conversion of the expected task space trajectory to joint space.
A third aspect of the present disclosure provides a computer-readable storage medium, on which a program is stored, which when executed by a processor, implements the steps in the nonlinear disturbance observer-based robust control method for a mobile manipulator according to the first aspect of the present disclosure.
A fourth aspect of the present disclosure provides an electronic device, including a memory, a processor, and a program stored on the memory and executable on the processor, where the processor implements the steps in the nonlinear disturbance observer-based robust control method for a mobile manipulator according to the first aspect of the present disclosure when executing the program.
Compared with the prior art, the beneficial effect of this disclosure is:
according to the method, the system, the medium or the electronic equipment, an inner ring and an outer ring control strategy are adopted, the outer ring adopts a backstepping method to design the controller, the conversion from a task space to a joint space is realized, corresponding virtual speed control quantity is generated, the inner ring adopts a PD + SMC controller with a nonlinear disturbance observer to realize the tracking of the virtual speed, the PD part replaces a small part in the SMC controller, and the problem that a dynamic model cannot be accurately modeled is solved; and a switching part in the SMC realizes partial compensation of external disturbance, and a nonlinear observer is adopted to realize dynamic compensation for observation of the sudden time-varying unknown disturbance.
The method, the system, the medium or the electronic equipment provided by the disclosure are used for establishing an inner and outer ring robust control method with a nonlinear disturbance observer under the condition that uncertain factors exist for a mobile mechanical arm with incomplete constraint, the task space planning is converted into the description in the joint space by an outer ring, and the following of the speed is realized and the rapid convergence and the stability are ensured by adopting a proportional-differential synovial control strategy with the disturbance observer by an inner ring.
Advantages of additional aspects of the disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the disclosure.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a schematic flow chart of a robust control method for a mobile manipulator based on a nonlinear disturbance observer according to embodiment 1 of the present disclosure.
Fig. 2 is a diagram of a track tracked by PD control for the robustness of a mobile robot based on a nonlinear disturbance observer according to embodiment 1 of the present disclosure.
Fig. 3 is a graph of tracking error controlled by a PD for the robustness of the moving robot arm based on the nonlinear disturbance observer according to embodiment 1 of the present disclosure.
Fig. 4 is a PD control moment diagram for the robustness of the mobile robot based on the nonlinear disturbance observer provided in embodiment 1 of the present disclosure.
Fig. 5 is a trajectory diagram tracked by a control algorithm for the robustness of the mobile robot based on the nonlinear disturbance observer provided in embodiment 1 of the present disclosure.
Fig. 6 is a graph of an error tracked by a control algorithm for the robustness of a mobile robot arm based on a nonlinear disturbance observer according to embodiment 1 of the present disclosure.
Fig. 7 is a moment diagram of a control algorithm for robustness of a mobile robot arm based on a nonlinear disturbance observer according to embodiment 1 of the present disclosure.
Fig. 8 is a graph of an observation result of a robust nonlinear disturbance observer for a moving robot arm based on a nonlinear disturbance observer according to embodiment 1 of the present disclosure with respect to disturbance.
Detailed Description
The present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
Example 1:
as shown in fig. 1, embodiment 1 of the present disclosure provides a robust control method for a mobile manipulator based on a nonlinear interference observer, where a robust controller based on the nonlinear interference observer implements stable trajectory tracking control of the mobile manipulator, the controller employs an inner-outer loop control strategy, an outer loop employs a back-stepping method to design the controller to implement conversion from a task space to a joint space and generate a corresponding virtual speed control quantity, an inner loop employs a PD + SMC controller with the nonlinear interference observer to implement tracking of a virtual speed, and the PD part replaces a small part in the SMC controller, thereby solving a problem that a dynamic model cannot be modeled accurately; the switching part in the SMC realizes partial compensation of external disturbance; and for the time-varying unknown sudden interference, a nonlinear observer is adopted to realize dynamic compensation for the observation of the unknown sudden interference.
S1: non-complete constraint mobile mechanical arm model building method
The wheel type differential driving mobile mechanical arm is incompletely restricted as follows:
Figure BDA0002835282930000061
wherein A (q) e R1×(n+3)Is a constraint matrix that is a function of,
Figure BDA0002835282930000062
is a generalized coordinate of the coordinate system of the device,
Figure BDA0002835282930000063
representative is the position and orientation of the mobile platform, (x)c，yc) Is the mass center coordinate of the moving platform under the inertial coordinate system,
Figure BDA0002835282930000064
is the direction angle of the mobile platform relative to the inertial frame, qr＝ [θ1，θ2，…θn]TIs the angle of the arm link.
Depending on the geometry of the moving robot arm, the incomplete constraint can be expressed as:
Figure BDA0002835282930000065
that is, the constraint matrix in equation (1) can be expressed as:
Figure BDA0002835282930000066
and a full rank matrix S (q) E R can be found(n+3)×(n+2)A null space satisfying a (q):
ST(q)AT(q)＝0 (4)
defining an auxiliary position vector z ═ θl，θr，θ1，θ2，…，θn]Its derivative with respect to time:
Figure BDA0002835282930000067
satisfies the following conditions:
Figure BDA0002835282930000068
the forward differential kinematic equation of the mobile manipulator is expressed as:
Figure BDA0002835282930000069
the following kinematic equation of the mobile mechanical arm can be established according to the Lagrange principle:
Figure BDA00028352829300000610
wherein the ratio of q,
Figure BDA00028352829300000611
is the state vector of the system, representing position, velocity and acceleration, respectively; m (q) ε R(n+3)×(n+3)Is a symmetric bounded positive definite inertial matrix;
Figure BDA00028352829300000612
is the term of coriolis force and centrifugal force; g (q) ε R(n+3)×1Is a gravity term;
Figure BDA00028352829300000613
representing uncertainty including friction and unmodeled dynamics; tau.d∈R(n+3)×1Representing external interference; tau epsilon to R(n+2)×1Represents a control input item; b (q) ε R(n+3)×(n+2)Is a known full rank transform matrix; λ ═ λn，0]Is the binding force term.
According to equation (4) without incomplete constraint, the kinematic equation of the mobile robot arm can be expressed as:
Figure BDA0002835282930000071
wherein the content of the first and second substances,
Figure BDA0002835282930000072
Figure BDA0002835282930000073
Figure BDA0002835282930000074
then decomposing the parametric phase into nominal and uncertainty terms and combining the uncertainty terms, kinetic equation (7) can be rewritten as follows:
Figure BDA0002835282930000075
wherein
Figure BDA0002835282930000076
Representing a concentrated interference term including system uncertainty and interference, EM，ECAnd EGRespectively correspond to
Figure BDA0002835282930000077
Figure BDA0002835282930000078
And
Figure BDA0002835282930000079
unknown item of。
S2: nonlinear disturbance observer design
Defining a State x1Z and
Figure RE-GDA0002948278750000085
the equation of dynamics is expressed in the form of a state space as follows:
Figure BDA00028352829300000711
taking the concentrated disturbance as a third state, the state space is rewritten into the following form:
Figure BDA00028352829300000712
wherein the content of the first and second substances,
Figure BDA00028352829300000713
is the extended state representing that interference by the mechanism.
The following non-linear disturbance observer can be designed according to equation (10):
Figure BDA0002835282930000081
wherein the nonlinear function fal (-) is defined as:
Figure BDA0002835282930000082
s3: controller design
S3.1: kinematic controller design
Firstly, the task space planning is converted into joint space, the controller is designed based on a back stepping method, and the specific steps are as follows
First, the error term is defined:
e(t)＝xd-x (14)
wherein x isdRepresenting the desired state and x representing the current state.
Assuming the kinematic equation of the mobile manipulator as: x ═ f (q), substituting equation (6) into available:
Figure BDA0002835282930000083
defining candidate Lyapunov functions as:
Figure BDA0002835282930000084
the derivation and bringing in (14) and (15) can be:
Figure BDA0002835282930000085
wherein
Figure BDA0002835282930000086
A virtual speed controller is designed.
V is to becThe belt-in formula (16) can be obtained:
Figure BDA0002835282930000087
s3.2: robust controller design
In this embodiment, a PD-SMC control method with a non-linear disturbance observer is designed, which is defined in the following steps:
ze(t)＝zd(t)-z(t) (17)
wherein z isd(t) is an expected value, and z (t) is an actual value.
Define the synovial function as:
Figure BDA0002835282930000091
wherein λ ═ diag (λ)1,λ2,...,λn) Is a positive definite diagonal matrix。
The robust nonlinear disturbance observer is designed as follows:
Figure BDA0002835282930000092
wherein K ispAnd KdAre respectively positive definite diagonal matrices (proportional and differential gains), η ∈ R6×6Is the positive diagonal synovial gain matrix, sgn(s) is a sign function.
S4: experimental verification
In the experiment, a differential drive mobile platform and a three-degree-of-freedom mechanical arm are combined to verify the effectiveness of the algorithm by using MATLAB, and a table 1 shows system parameters of a simulation hypothesis.
TABLE 1 simulation System parameters
Figure BDA0002835282930000093
Figure BDA0002835282930000101
Assume that the desired trajectory is:
xd＝[0.2t+0.5,0.5+0.25cos(πt),0.2+0.1cos(0.5πt),0.23t,0.1sin(0.5πt)]
the concentrated interference is:
d1＝10[-cos(0.5t),2sin(0.5t),sin(0.5t),cos(0.5t),2cos(0.5t)]
the applied burst interference is:
d2＝30*sin(5πt)(2<t<3) t is simulation time sequence
The controller parameters used were: kp＝40，Kd＝15，Λ＝30，η＝50， Kp＝40,Kd＝15,η＝50，T＝0.001,β＝[100,300,1000],a＝[0.5,0.25],δ＝0.001。
To verify the comparison of the effectiveness of the algorithm with the PD controller, the PD controller and its parameters are:
Figure BDA0002835282930000102
wherein k isp＝1000,kd＝300
Verification results are shown in fig. 2-8, and fig. 2, 3 and 4 are graphs of tracking effects of PD control, where fig. 2 is a tracking track, fig. 3 is a tracking error, and fig. 4 is a control moment. Similarly, fig. 5, 6 and 7 are graphs showing the effects of the control algorithm designed by the present embodiment. By comparison, the control method designed by the embodiment is obviously superior to the PD control method. Fig. 8 is an observation result of the nonlinear disturbance observer on the disturbance, and it can be seen that the observer can well observe the unknown disturbance and complete compensation in the controller.
Example 2:
the embodiment 2 of the present disclosure provides a robust control system for a mobile manipulator based on a nonlinear disturbance observer, including:
a data acquisition module configured to: acquiring geometric structure data and motion state data of the mobile mechanical arm;
a power model building module configured to: according to the acquired data, a dynamic equation of the mobile mechanical arm is constructed by utilizing the Lagrange principle;
a robust control module configured to: and performing inner and outer ring motion control according to the obtained dynamic equation of the mobile mechanical arm, wherein the inner ring adopts robust control based on a nonlinear disturbance observer, and the outer ring adopts a backstepping method to realize the conversion of the expected task space trajectory to joint space.
The working method of the system is the same as the robust control method of the moving mechanical arm based on the nonlinear disturbance observer provided in embodiment 1, and is not described again here.
Example 3:
the embodiment 3 of the present disclosure provides a computer-readable storage medium, on which a program is stored, which when executed by a processor, implements the steps in the nonlinear disturbance observer-based robust control method for a mobile manipulator according to the embodiment 1 of the present disclosure.
Example 4:
the embodiment 4 of the present disclosure provides an electronic device, which includes a memory, a processor, and a program stored in the memory and executable on the processor, and when the processor executes the program, the processor implements the steps in the robust control method for a mobile manipulator based on a nonlinear disturbance observer according to embodiment 1 of the present disclosure.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims (8)

1. A robust control method for a mobile mechanical arm based on a nonlinear disturbance observer is characterized by comprising the following steps: the method comprises the following steps:
acquiring geometric structure data and motion state data of the mobile mechanical arm;
obtaining incomplete constraint of the mobile mechanical arm according to the geometric structure data and the motion state data of the mechanical arm, and obtaining a dynamic equation of the mobile mechanical arm by combining the Lagrange principle;
performing inner and outer ring motion control according to the obtained dynamic equation of the mobile mechanical arm, wherein the inner ring adopts robust control based on a nonlinear disturbance observer, the obtained dynamic equation is expressed into a state space form comprising two states, and the concentrated disturbance is taken as a third state to obtain the nonlinear disturbance observer; the specific process is as follows:
defining a State x1Z and
Figure FDA0003552403890000011
the equation of dynamics is expressed in the form of a state space as follows:
Figure FDA0003552403890000012
taking the concentrated disturbance as a third state, the state space is rewritten into the following form:
Figure FDA0003552403890000013
wherein the content of the first and second substances,
Figure FDA0003552403890000014
is an extended state representing concentrated interference;
the following non-linear disturbance observer was designed:
Figure FDA0003552403890000015
wherein the nonlinear function fal (-) is defined as:
Figure FDA0003552403890000016
the outer loop uses a back stepping method to realize the conversion of the expected task space trajectory to the joint space.
2. The nonlinear disturbance observer-based robust control method for the moving mechanical arm as recited in claim 1, wherein:
the inner loop follows the speed using a proportional-differential synovial control strategy with a disturbance observer.
3. The nonlinear disturbance observer-based robust control method for the moving mechanical arm as recited in claim 1, wherein:
the outer loop control realizes the kinematic control of the mobile mechanical arm, a controller is designed by adopting a backstepping method, an error term is defined, and a forward differential kinematic equation of the mobile mechanical arm is substituted into a kinematic equation of the mobile mechanical arm to obtain a derivative of the current state;
and defining a candidate Lyapunov function, deriving and substituting the derivative of the error term and the derivative of the current state, and combining a virtual speed controller to obtain the kinematics controller of the outer loop control.
4. The robust control method for the moving mechanical arm based on the nonlinear disturbance observer as recited in claim 1, wherein:
and the inner ring control realizes robust control of the mobile mechanical arm, and the robust controller controlled by the inner ring is obtained according to the defined tracking error and the sliding mode function.
5. The robust control method for the moving mechanical arm based on the nonlinear disturbance observer as recited in claim 4, wherein:
the robust controller specifically comprises:
Figure FDA0003552403890000021
wherein, KpAnd KdAre respectively positive definite diagonal matrix, eta belongs to R6×6For positive diagonal synovial gain matrix, sgn(s) is the sign function and τ is the control input.
6. A robust control system of a mobile mechanical arm based on a nonlinear disturbance observer is characterized in that: the method comprises the following steps:
a data acquisition module configured to: acquiring geometric structure data and motion state data of the mobile mechanical arm;
a power model building module configured to: obtaining incomplete constraint of the mobile mechanical arm according to the geometric structure data and the motion state data of the mechanical arm, and obtaining a dynamic equation of the mobile mechanical arm by combining the Lagrange principle;
a robust control module configured to: performing inner and outer ring motion control according to the obtained dynamic equation of the mobile mechanical arm, wherein the inner ring adopts robust control based on a nonlinear disturbance observer, the obtained dynamic equation is expressed into a state space form comprising two states, and the concentrated disturbance is taken as a third state to obtain the nonlinear disturbance observer; the specific process is as follows:
defining a State x1Z and
Figure FDA0003552403890000031
the equation of dynamics is expressed in the form of a state space as follows:
Figure FDA0003552403890000032
taking the concentrated disturbance as a third state, the state space is rewritten into the following form:
Figure FDA0003552403890000033
wherein the content of the first and second substances,
Figure FDA0003552403890000034
is an extended state representing concentrated interference;
the following non-linear disturbance observer was designed:
Figure FDA0003552403890000035
wherein the nonlinear function fal (-) is defined as:
Figure FDA0003552403890000036
the outer loop uses a back stepping method to realize the conversion of the expected task space trajectory to the joint space.
7. A computer-readable storage medium, on which a program is stored, which program, when being executed by a processor, carries out the steps of the nonlinear disturbance observer based robust control method for a mobile robot arm according to any one of claims 1 to 5.
8. An electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the method for robust control of a moving manipulator based on a nonlinear disturbance observer as claimed in any one of claims 1 to 5.
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