CN117506921A - Two-link mechanical arm tracking control method based on fixed time sliding mode - Google Patents
Two-link mechanical arm tracking control method based on fixed time sliding mode Download PDFInfo
- Publication number
- CN117506921A CN117506921A CN202311659843.8A CN202311659843A CN117506921A CN 117506921 A CN117506921 A CN 117506921A CN 202311659843 A CN202311659843 A CN 202311659843A CN 117506921 A CN117506921 A CN 117506921A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- fixed time
- joint
- sliding mode
- error
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 239000011159 matrix material Substances 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 5
- 238000012795 verification Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 abstract description 5
- 238000013461 design Methods 0.000 description 6
- 238000004088 simulation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000010200 validation analysis Methods 0.000 description 1
Classifications
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a two-link mechanical arm tracking control method based on a fixed-time sliding mode, which relates to the technical field of mechanical arm control and comprises the following steps: constructing a two-degree-of-freedom mechanical arm model and a joint error dynamics model of a two-connecting-rod mechanical arm; based on a control target and a joint error dynamics model of the two-link mechanical arm, designing a nonlinear fixed time sliding mode surface and a continuous nonlinear fixed time sliding mode controller, wherein the control target is that the joint angle error and the joint angular velocity error of the mechanical arm are converged to 0 in fixed time; designing an event trigger mechanism and an event trigger controller with dynamic thresholds; and controlling the two-connecting-rod mechanical arm based on the event triggering mechanism, the event triggering controller and the two-degree-of-freedom mechanical arm model. The control method provided by the invention reduces the communication burden and has global fixed time stability, and can ensure that the angle and angular speed errors of the mechanical arm joint tracking are converged to 0 in fixed time.
Description
Technical Field
The invention relates to the technical field of mechanical arm control, in particular to a two-link mechanical arm tracking control method based on a fixed time sliding mode and an event triggering mechanism.
Background
During the last decades, a number of important research efforts have been devoted to the study of the problems of uncertain dynamics and of tracking of the trajectories of robots under bounded external disturbances. Wherein the sliding mode control has a insensitive characteristic to bounded external disturbances, is an effective way of controlling an uncertain robot. The formulation of a Sliding Mode Control (SMC) system mainly comprises two steps of sliding mode surface selection and sliding mode controller selection. The sliding surface is chosen so that the SMC system can operate in a desired manner, and then the proposed controller is designed to ensure that the system can be driven to the sliding surface and stay there for a longer period of time. The SMC is widely applied to track tracking of robots with uncertain dynamics and bounded external disturbance due to the advantages of high convergence speed, simple realization, reduced order, stronger robustness to external disturbance, insensitivity to uncertain dynamics and system parameter changes and the like.
The rapid convergence and control accuracy of the robot arm joint trajectory tracking control are attracting attention of many students. The limited time sliding mode control (Finite Time Sliding Mode Control) has been found to be a rich result in the field of arm joint tracking control, as it ensures that the arm can converge to a higher accuracy in a limited time range. However, the finite time sliding mode control method suffers from the disadvantage that the convergence time is related to the initial state. To overcome the disadvantage that the limited time sliding mode control is limited to the initial state, the limited time sliding mode control method is further developed into a fixed time sliding mode control (Fixed Time Sliding Mode Control) which is not limited to the initial state. In the current stage, in order to avoid the singular problem of the controller, the numerous fixed-time sliding mode control methods basically adopt the idea of designing the sliding mode surface in a sectional manner, and the sliding mode surface design method is complex and difficult to realize simple and quick design. In addition, the existing mechanical arm track tracking control method mostly adopts continuous control signals, however, due to bandwidth limitation under network control, real-time control signal transmission has great difficulty.
Disclosure of Invention
In order to solve the problem of joint track tracking control of a two-link mechanical arm under the limitation of communication bandwidth, the invention provides a two-link mechanical arm tracking control method based on a fixed time sliding mode and an event triggering mechanism.
The technical scheme adopted by the invention is as follows:
a two-link mechanical arm tracking control method based on a fixed time sliding mode comprises the following steps:
s1, constructing a two-degree-of-freedom mechanical arm model and a joint error dynamics model of a two-connecting-rod mechanical arm;
s2, designing a nonlinear fixed time sliding mode surface and a continuous nonlinear fixed time sliding mode controller based on a control target and a joint error dynamics model of the two-link mechanical arm, wherein the control target is that the joint angle error and the joint angular velocity error of the mechanical arm are converged to 0 in fixed time;
s3, designing an event trigger mechanism and an event trigger controller with dynamic thresholds according to a joint error dynamics model of the two-connecting-rod mechanical arm, a nonlinear fixed time sliding mode surface and a continuous nonlinear fixed time sliding mode controller;
and S4, controlling the two-connecting-rod mechanical arm based on the event triggering mechanism, the event triggering controller and the two-degree-of-freedom mechanical arm model.
In a preferred embodiment of the present invention, in step S1,
the two-degree-of-freedom mechanical arm model is as follows:
wherein q.epsilon.R n Represents the joint angle of the mechanical arm,represents the joint speed of the mechanical arm, and tau epsilon R n Represents the joint moment, n represents the number of joints of the mechanical arm, M (q) ∈R n×n Representing the inertial matrix of the mechanical arm, < > and->Represents the coriolis force matrix of the mechanical arm, G (q) epsilon R n Representing a gravity vector;
let x 1 ＝q，The Lagrangian model is converted into a state space model as follows:
C(x 1 ,x 2 ) Representing the coriolis force vector, using q d Representing the desired position of the joint,representing the desired angular velocity of the joint,represents the desired angular acceleration of the joint, the angular error e R n Denoted as e=q d -x 1 Joint angular velocity error->Denoted as->
Order theThe joint error dynamics model of the two-link mechanical arm is:
in a preferred embodiment of the present invention, in step S2, the nonlinear fixed time slide surface is:
wherein s is E R n Beta is a positive parameter of the setting, H.epsilon.R n×n ＝diag[h 1 ,h 2 ,...h n ]，
Representing a sign function in the form of a vector, wherein each component +.>i represents the i-th joint of the mechanical arm.
In a preferred embodiment of the present invention,
wherein lambda is 1 Sum mu 1 Are all greater than 0 and satisfy
In a preferred embodiment of the present invention, the continuous nonlinear fixed time sliding mode controller is:
wherein the method comprises the steps of，k 1 ＞d max The expression of ρ(s) is as follows:
ρ(s i )＝|s i | α ；k 2 alpha is more than 1, and is a constant greater than 0.
Fixed time T (ζ) 0 ) Satisfy the following inequality
In a preferred embodiment of the present invention, in step S3, the expression of the event trigger mechanism is:
wherein t is k Represents the kth trigger time, 0<k 3 <1；
The event trigger controller is:
τ＝u(t k )
the error function is:
e(t)＝u(t)-u(t k )
wherein,
in a preferred embodiment of the present invention, the non-linear fixed time sliding mode controller and the event trigger mechanism are validated for fixed time stability based on the lyapunov function, including validation of fixed time stability outside the sliding mode plane and fixed time stability inside the sliding mode plane.
Compared with the prior art, the invention has the beneficial effects that:
1) Firstly, a nonlinear fixed-time sliding mode surface is designed, and is different from the traditional sectional design method, only one sliding mode surface is arranged in the whole process, so that the design of the sliding mode surface and a controller is simpler;
2) Secondly, a continuous fixed-time sliding mode controller is designed, and the designed continuous sliding mode surface and sliding mode controller can ensure that the angle and angular speed errors tracked by the mechanical arm joint are converged to 0 in fixed time;
3) Finally, considering the limitation of communication bandwidth, the continuous fixed time sliding mode controller is difficult to implement, and an event trigger mechanism with a dynamic threshold is designed, so that the communication burden caused by updating control signals in real time is reduced, and the global fixed time stability is realized while the communication burden is reduced; the designed event triggering mechanism can avoid the phenomenon of the gano, namely, the condition that the time interval between two adjacent triggers is 0 does not exist.
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of a robotic arm control architecture of the present invention;
FIG. 2 is a graph of trace response in a numerical simulation verification according to the present invention;
FIG. 3 is a graph of joint angle error;
FIG. 4 is a graph of joint angular velocity error;
fig. 5 is an event trigger timing diagram.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
As shown in fig. 1, the invention provides a two-link mechanical arm tracking control method based on a fixed time sliding mode and an event triggering mechanism, which comprises the following steps:
1. problem modeling
The two-degree-of-freedom mechanical arm model is constructed as follows:
wherein q.epsilon.R n Represents the joint angle of the mechanical arm,represents the joint speed of the mechanical arm, and tau epsilon R n Represents the joint moment, n represents the number of joints of the mechanical arm, M (q) ∈R n×n Representing the inertial matrix of the mechanical arm, < > and->Represents the coriolis force matrix of the mechanical arm, G (q) epsilon R n Representing the gravity vector.
Let x 1 ＝q，The Lagrangian model is converted into a state space model as follows:
C(x 1 ,x 2 ) Representing the coriolis force vector, using q d Representing the desired position of the joint,representing the desired angular velocity of the joint,representing the desired angular acceleration of the joint. Joint angle error e R n Denoted as e=q d -x 1 Joint angular velocity error->Denoted as->
Order theThe joint error dynamics model of the two-link mechanical arm is described by the following state space model:
wherein the joint angle (i.e. position), angular velocity, angular acceleration of the designed desired trajectory are continuously bounded and available.
2. Slip form face and controller design
Control target: both the joint angle error and the joint angular velocity error converge to 0 in a fixed time.
The nonlinear fixed time sliding mode surface is designed as follows:
wherein s is E R n Beta is more than 0, is a positive number which is set by personnel, H is E R n×n ＝diag[h 1 ,h 2 ,...h n ]，
Representing a sign function in the form of a vector, wherein each component +.>i represents the i-th joint of the mechanical arm.
Vector sign function each componentThe definition is as follows:
h i the definition is as follows:
wherein lambda is 1 Sum mu 1 Are all greater than 0 and satisfy
And deriving a nonlinear fixed-time sliding mode surface to obtain:
wherein L is E R n×n ＝diag[l 1 ,l 2 ,...l n ]，
The design of the continuous nonlinear fixed time sliding mode controller is as follows:
wherein k is 1 ＞d max The expression of ρ(s) is as follows:
ρ(s i )＝|s i | α ；k 2 alpha is more than 1, and is a constant greater than 0.
The designed nonlinear fixed time sliding mode controller and nonlinear fixed time sliding mode surface have the following properties: the use of a designed nonlinear fixed time sliding mode controller (8) enables global fixed time stability and fixed time T (ζ) 0 ) Satisfy the following inequality
And (3) proving:
(1) Stability over time outside the slip form face
Selecting a continuously differentiable forward Lyapunov functionAnd the first derivative with respect to time is calculated as follows:
the nonlinear fixed time sliding mode controller (8) is brought into the formula (11) to obtain:
the combination of (12) and primer 1 can be achieved at a fixed timeIn, from the slide surface (s (0) =s 0 ) Reaching the slide face s=0 3×1 。
The quotation mark 1 is:
fixed time stability theorem:
n∈N + for the dimension of the system state quantity, x represents the system state, the system (13) is globally fixed time stable if and only if there is a continuously positive, meaningless and radially unbounded function V: R n →R + Satisfy the following requirements
Wherein x is E R n A > 0, b > 0 and 0 < gamma < 1 < alpha, at which time the system (13) will be globally fixed time stable and x (0) =x for any initial state 0 The system will be operating at a fixed time T (x 0 ) The inner converges to the origin. The fixed time satisfies
Where V is a positive lyapunov function.
(2) Fixed time stability in the slip form face
After reaching the slide face, the following relationship is satisfied:
selecting Lyapunov functionAnd the first derivative with respect to time is calculated as follows:
according to (17), upon reaching the slide face s=0 3×1 After that, for all V 2 Zeta-relieving material not less than 1 1 Will be at a fixed timeConverging to V 2 ≤1。
When the state converges to V 2 After less than or equal to 1, due to |ζ 1i Is less than or equal to 1 andthis meansThus, when ζ 1 Converging to V 2 After less than or equal to 1, the following relationship is satisfied:
because ofAll satisfy V 2 Zeta-relieving agent less than or equal to 1 1 Will be at a fixed time +.>Converging to the origin. Thus, when the slide surface s=0 is reached 3×1 Then, the joint error dynamics model (3) of the two-link mechanical arm will be at fixed timeThe inner converges to the origin.
In combination with the stability in and out of the slide surface, it has proved that under the designed nonlinear fixed time slide controller (8), the joint error dynamics model (3) of the two-link mechanical arm will be at fixed time
The inner converges to the origin.
3. And designing an event trigger mechanism and an event trigger controller with dynamic thresholds according to the nonlinear fixed-time sliding mode surface and the continuous nonlinear fixed-time sliding mode controller.
The expression for constructing the event trigger mechanism is as follows:
wherein t is k Represents the kth trigger time, 0<k 3 <1, from which the following error function is obtained:
e(t)＝u(t)-u(t k ) (20)
the event trigger controller is designed to:
τ＝u(t k ) (21)
wherein:
the designed event trigger mechanism has the following properties:
(1) The designed event trigger controller (21) and event trigger mechanism (19) can realize global fixed time stability and fixed time T 1 (ζ 0 ) Satisfy the following inequality
And (3) proving:
1) According to an event trigger mechanism (19), an event trigger controller (21), and equation (11), demonstrate stability out of the slide plane:
can be obtained at a fixed time according to the quotation 1 and the formula (24)In, from the slide surface (s (0) =s 0 ) Reaching the slide face s=0 3×1 。
2) Stability in the slip form plane
The stability in the slip plane demonstrated the same procedure as formulas (16) - (18). Upon reaching the slide face s=0 3×1 Then, the joint error dynamics model (3) of the two-link mechanical arm will be at fixed timeThe inner converges to the origin.
In summary, the designed event trigger mechanism and event trigger controller can ensure that the joint angle error differential of the two-link mechanical arm will be at a fixed timeThe inner converges to the origin.
(2) The designed static event triggering mechanism can avoid the gano phenomenon, namely, the time interval between adjacent triggering moments is larger than 0.
And (3) proving:
deriving an error function e (t):
in practical applications, in order to avoid the buffeting phenomenon of the sliding mode, the sign function sgn(s) is replaced by a saturation function sat(s) with a derivative, and if s is bounded, the derivative of sat(s) is continuous and bounded. In addition, due to x 1 ,x 2 ,The derivative thereof is bounded over the triggering interval as a continuous function, which means that there is a limit to the derivative of the error function. Since the inertial matrix of the mechanical arm is always reversible and k is 1 ,k 2 ,k 3 Are all greater than 0, so->Thus (2)The time interval between adjacent trigger moments is strictly greater than 0.
4. And controlling the two-connecting-rod mechanical arm based on the event triggering mechanism, the event triggering controller and the two-degree-of-freedom mechanical arm model.
The control flow is described below with reference to fig. 1:
(1) The sensor acquires each state of the mechanical arm, and judges whether an event triggering mechanism is met or not by combining a joint error dynamics model (3) and a nonlinear fixed time sliding mode surface (4) of the two-link mechanical arm;
(2) And if the event triggering mechanism is met, updating a control signal obtained by the event triggering controller (21) to the executing mechanism, and if the event triggering mechanism is not met, continuing to collect the states of all joints of the mechanical arm.
5. Numerical simulation verification
In order to verify the effectiveness of the control algorithm provided by the invention, a two-link mechanical arm dynamics model is used for simulation, and M (q) in the dynamics model,The expression of G (q) is as follows:
wherein m is * ＝[m 1 ,m 2 ] T ＝[2,2] T The unit kg represents the mass of two connecting rods of the mechanical arm; l= [ l ] 1 ,l 2 ] T ＝[0.5,0.5] T Unit m represents the length of two links of the mechanical arm, i= [0.125,0.125 ]] T Units of kgm 2 Representing the moment of inertia of the two joints, g=9.8m 2 S represents the gravitational acceleration and s represents the seconds. In order to avoid the chatter phenomenon caused by the sign function of the sliding mode, a saturation function sat () is used instead of the sign function sgn (), and the saturation function expression is as follows:
wherein σ > 0, a small positive number. The controller parameters were set as follows: k (k) 1 ＝1，k 2 ＝3，k 3 ＝0.4，β＝1，α＝2，μ 1 ＝0.5，λ 1 ＝2.5，Convergence time after joining event trigger mechanism +.>
The expected track of the mechanical arm is set as a circular track, and the parameters of the circle are as follows: center of circle (0.3 ), unit meter, radius 0.2, unit meter. Initial joint angle q of mechanical arm 0 ＝[-0.6,1.7]Unit rad, initial joint angular velocityUnits rad/s. Sigma=0.1 in the saturation function.
The simulation results are shown in fig. 2-5:
according to the method, the end of the mechanical arm can track a desired circular track well under the trigger control of the designed event trigger mechanism through the figure 2; as can be seen from fig. 3 and 4, the mechanical arm can track the joint angle and angular velocity corresponding to the desired circular track well, and the convergence time is limited to T (ζ) 0 ) Is within; as can be seen from fig. 5, a continuous update of the control signal is avoided.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The two-link mechanical arm tracking control method based on the fixed time sliding mode is characterized by comprising the following steps of:
s1, constructing a two-degree-of-freedom mechanical arm model and a joint error dynamics model of a two-connecting-rod mechanical arm;
s2, designing a nonlinear fixed time sliding mode surface and a continuous nonlinear fixed time sliding mode controller based on a control target and a joint error dynamics model of the two-link mechanical arm, wherein the control target is that the joint angle error and the joint angular velocity error of the mechanical arm are converged to 0 in fixed time;
s3, designing an event trigger mechanism and an event trigger controller with dynamic thresholds according to a joint error dynamics model of the two-connecting-rod mechanical arm, a nonlinear fixed time sliding mode surface and a continuous nonlinear fixed time sliding mode controller;
and S4, controlling the two-connecting-rod mechanical arm based on the event triggering mechanism, the event triggering controller and the two-degree-of-freedom mechanical arm model.
2. The method for controlling the tracking of the two-bar mechanical arm according to claim 1, wherein in the step S1,
the two-degree-of-freedom mechanical arm model is as follows:
wherein q.epsilon.R n Represents the joint angle of the mechanical arm,represents the joint speed of the mechanical arm, and tau epsilon R n Represents the joint moment, n represents the number of joints of the mechanical arm, M (q) ∈R n×n Representing the inertial matrix of the mechanical arm, < > and->Represents the coriolis force matrix of the mechanical arm, G (q) epsilon R n Representing a gravity vector;
let x 1 ＝q，The Lagrangian model is converted into a state space model as follows:
C(x 1 ,x 2 ) Representing the coriolis force vector, using q d Representing the desired position of the joint,representing the desired angular velocity of the joint>Represents the desired angular acceleration of the joint, the angular error e R n Denoted as e=q d -x 1 Joint angular velocity error->Represented as
Order theThe joint error dynamics model of the two-link mechanical arm is:
3. the method for tracking and controlling a two-bar mechanical arm according to claim 2, wherein in step S2, the nonlinear fixed time slide surface is:
wherein s is E R n Beta is a positive parameter of the setting, H.epsilon.R n×n ＝diag[h 1 ,h 2 ,...h n ]，
Representing a sign function in the form of a vector, wherein each component is +.>i represents the i-th joint of the mechanical arm.
4. The two-bar linkage arm tracking control method according to claim 3, characterized in that,
wherein lambda is 1 Sum mu 1 Are all greater than 0 and satisfy
5. The two-bar mechanical arm tracking control method of claim 4, wherein the continuous nonlinear fixed time sliding mode controller is:
wherein k is 1 ＞d max The expression of ρ(s) is as follows:
ρ(s i )＝|s i | α ；k 2 alpha is more than 1, and is a constant greater than 0.
Fixed time T (ζ) 0 ) Satisfy the following inequality
6. The two-bar mechanical arm tracking control method according to claim 5, wherein in step S3, the expression of the event trigger mechanism is:
wherein t is k Represents the kth trigger time, 0<k 3 <1；
The event trigger controller is:
τ＝u(t k )
the error function is:
e(t)＝u(t)-u(t k )
wherein,
7. the two-bar mechanical arm tracking control method of claim 6, wherein the non-linear fixed time sliding mode controller and the event trigger mechanism are subjected to fixed time stability verification based on lyapunov function, including fixed time stability outside the sliding mode surface and fixed time stability verification inside the sliding mode surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311659843.8A CN117506921A (en) | 2023-12-05 | 2023-12-05 | Two-link mechanical arm tracking control method based on fixed time sliding mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311659843.8A CN117506921A (en) | 2023-12-05 | 2023-12-05 | Two-link mechanical arm tracking control method based on fixed time sliding mode |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117506921A true CN117506921A (en) | 2024-02-06 |
Family
ID=89743765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311659843.8A Pending CN117506921A (en) | 2023-12-05 | 2023-12-05 | Two-link mechanical arm tracking control method based on fixed time sliding mode |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117506921A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105319972A (en) * | 2015-11-27 | 2016-02-10 | 燕山大学 | Remote operating robot fixed time control method based on rapid terminal sliding mode |
| CN111152225A (en) * | 2020-01-15 | 2020-05-15 | 北京科技大学 | Uncertain mechanical arm fixed time trajectory tracking control method with input saturation |
| CN112936277A (en) * | 2021-02-04 | 2021-06-11 | 大连海事大学 | Underwater robot-manipulator system fixed time trajectory tracking method |
| US20220088786A1 (en) * | 2020-07-24 | 2022-03-24 | Yanshan University | Fractional Order Sliding Mode Synchronous Control Method For Teleoperation System Based On Event Trigger Mechanism |
| DE202022106229U1 (en) * | 2022-11-07 | 2022-11-21 | Manas Kumar BERA | A system for designing an event-driven robust controller for motion control of a mobile robot |
| CN116000941A (en) * | 2023-02-15 | 2023-04-25 | 广州大学 | Fixed time control method of mechanical arm system with output constraint |
| CN116276965A (en) * | 2023-01-06 | 2023-06-23 | 中国电子科技集团公司第十三研究所 | Fixed time track tracking control method for mechanical arm based on nonsingular terminal sliding mode |
| CN116339141A (en) * | 2023-03-10 | 2023-06-27 | 山东科技大学 | Mechanical arm global fixed time track tracking sliding mode control method |
-
2023
- 2023-12-05 CN CN202311659843.8A patent/CN117506921A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105319972A (en) * | 2015-11-27 | 2016-02-10 | 燕山大学 | Remote operating robot fixed time control method based on rapid terminal sliding mode |
| CN111152225A (en) * | 2020-01-15 | 2020-05-15 | 北京科技大学 | Uncertain mechanical arm fixed time trajectory tracking control method with input saturation |
| US20220088786A1 (en) * | 2020-07-24 | 2022-03-24 | Yanshan University | Fractional Order Sliding Mode Synchronous Control Method For Teleoperation System Based On Event Trigger Mechanism |
| CN112936277A (en) * | 2021-02-04 | 2021-06-11 | 大连海事大学 | Underwater robot-manipulator system fixed time trajectory tracking method |
| DE202022106229U1 (en) * | 2022-11-07 | 2022-11-21 | Manas Kumar BERA | A system for designing an event-driven robust controller for motion control of a mobile robot |
| CN116276965A (en) * | 2023-01-06 | 2023-06-23 | 中国电子科技集团公司第十三研究所 | Fixed time track tracking control method for mechanical arm based on nonsingular terminal sliding mode |
| CN116000941A (en) * | 2023-02-15 | 2023-04-25 | 广州大学 | Fixed time control method of mechanical arm system with output constraint |
| CN116339141A (en) * | 2023-03-10 | 2023-06-27 | 山东科技大学 | Mechanical arm global fixed time track tracking sliding mode control method |
Non-Patent Citations (2)
| Title |
|---|
| 于镝等: "动态事件触发机制下多智能体系统固定时间跟踪", 兵工学报, 31 May 2023 (2023-05-31), pages 1 - 11 * |
| 李彬等: "Event-Triggered Sliding Mode Control for Spacecraft Reorientation With Multiple Attitude Constraints", IEEE, 31 October 2023 (2023-10-31) * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108983606B (en) | Robust sliding mode self-adaptive control method of mechanical arm system | |
| CN110977988B (en) | Multi-joint mechanical arm impedance control method based on finite time command filtering | |
| CN110340898B (en) | Self-adaptive fault-tolerant control method for free floating space manipulator | |
| CN108241292B (en) | Underwater robot sliding mode control method based on extended state observer | |
| CN106393116B (en) | Mechanical arm fractional order iterative learning control method with Initial state learning and system | |
| CN110376882A (en) | Pre-determined characteristics control method based on finite time extended state observer | |
| CN104723340A (en) | Impedance control method for flexibility joint mechanical arm based on connection and damping configuration | |
| CN108803326A (en) | Industrial machinery arm linear active disturbance rejection tracking and controlling method with interference and time delay | |
| CN113183154B (en) | Adaptive inversion control method of flexible joint mechanical arm | |
| CN108710296B (en) | Fractional order self-adaptive fast terminal sliding mode control method of micro gyroscope | |
| CN112276954B (en) | Multi-joint mechanical arm impedance control method based on limited time output state limitation | |
| CN109352656B (en) | Multi-joint mechanical arm control method with time-varying output constraint | |
| Izadbakhsh et al. | FAT-based robust adaptive control of flexible-joint robots: singular perturbation approach | |
| CN112192573A (en) | Uncertainty robot self-adaptive neural network control method based on inversion method | |
| Zhao et al. | Adaptive event-triggered boundary control for a flexible manipulator with input quantization | |
| CN113219825B (en) | Single-leg track tracking control method and system for four-leg robot | |
| CN117506921A (en) | Two-link mechanical arm tracking control method based on fixed time sliding mode | |
| Campa et al. | On stability of the resolved acceleration control | |
| CN114147713B (en) | Track tracking control method based on adaptive neural network high-order dynamic sliding mode | |
| CN114589702B (en) | Collaborative robot dragging method based on dynamic parameter identification and admittance control | |
| CN112987770B (en) | Anti-saturation finite-time motion control method for walking feet of amphibious crab-imitating multi-foot robot | |
| CN116047888A (en) | Control method of self-balancing vehicle based on BP neural network PID | |
| Jang et al. | Networked operation of a uav using gaussian process-based delay compensation and model predictive control | |
| Wang et al. | Adaptive robust control for accurate trajectory tracking of collaborative robots | |
| Fei et al. | Adaptive global fast terminal sliding mode control of MEMS gyroscope using fuzzy-neural-network |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |