CN105563489B - Flexible mechanical arm control method based on non-linear Auto Disturbances Rejection Control Technique - Google Patents
Flexible mechanical arm control method based on non-linear Auto Disturbances Rejection Control Technique Download PDFInfo
- Publication number
- CN105563489B CN105563489B CN201610115010.9A CN201610115010A CN105563489B CN 105563489 B CN105563489 B CN 105563489B CN 201610115010 A CN201610115010 A CN 201610115010A CN 105563489 B CN105563489 B CN 105563489B
- Authority
- CN
- China
- Prior art keywords
- formula
- parameter
- observer
- nonlinear
- pole
- 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.)
- Active
Links
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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1635—Programme controls characterised by the control loop flexible-arm control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Feedback Control In General (AREA)
Abstract
A kind of flexible mechanical arm control method based on Auto Disturbances Rejection Control Technique, including：Flexible mechanical arm system model is established, system mode and controller parameter are initialized；Design the Nonlinear Tracking Differentiator of high-order；Design nonlinear extension state observer；Observer parameter is determined with Method of Pole Placement；Add nonlinear feedback.Extended state observer is designed, estimating system state and external disturbance is used for, observer gain parameter is determined using Method of Pole Placement；Nonlinear Feedback Control rule is designed, ensure system tracking error fast and stable and converges to zero, the final fast and stable control for realizing flexible mechanical arm system.The present invention solves the problems, such as that internal system state and external disturbance are immesurable, compensates for the influence of nonlinear element and indeterminate existing for system, improve conventional PID control method there are the problem of, track desired signal with realizing system fast and stable.
Description
Technical field
The present invention relates to a kind of flexible mechanical arm control methods based on non-linear Auto Disturbances Rejection Control Technique, suitable for carrying
The Position Tracking Control of the flexible mechanical arm servo-drive system of indeterminate.
Background technology
As robot system develops towards high speed, heavy duty, high-precision, this necessarily makes the flexible deformation of component increase,
Some tiny cross portion phases must be passed through with its robot motion's stationarity, the contradiction of accuracy, mechanical arm by causing
Even, mechanical oscillation are easy to cause, to keep the control to its end position relatively difficult.Therefore, traditional Rigid Robot Manipulator
Research method is not directly applicable flexible mechanical arm research.For this purpose, people are by a branch of mechanism dynamic ----elasticity
Dynamics introduces wherein, produces a kind of emerging robot：Flexible robot.For Rigid Robot Manipulator, flexible machine
Tool arm has more degree of freedom, and has more nonlinear elements in flexible mechanical arm.But the system of flexible mechanical arm
State is difficult to observe, it is difficult to apply effective controlled quentity controlled variable, realize and be accurately controlled to it.Therefore, how to realize to flexible mechanical
The accurate tracing control of arm system is flexible mechanical arm system one of critical issue urgently to be resolved hurrily.
Active Disturbance Rejection Control is the succession and development controlled classical PID.By introducing " transition in original PID frames
Process or Nonlinear Tracking Differentiator ", " design extended state observer " and " nonlinear Feedback Control rule ", enable a system in real time
External disturbance and system indeterminate are tracked, and external disturbance and indeterminate are compensated by feedback rate control, is carried
The high control efficiency of system, makes system have good tracking effect.Therefore, Auto Disturbances Rejection Control Technique is very suitable for having non-
Linear indeterminate and system mode are difficult to the flexible mechanical arm system measured.
But so far, the parameter of extended state observer is based primarily upon engineering experience to be selected.Method of Pole Placement
(Pole Assignment) is that the pole of Linear Time-Invariant System is moved on to a kind of comprehensive of precalculated position by the feedback of proportional component
Principle is closed, its essence is the free movement patterns that change original system is removed with Proportional Feedback, to meet the requirement of design.Therefore, may be used
To determine the parameter of extended state observer by Method of Pole Placement.
Invention content
In order to overcome the prior art components of system as directed state and disturbance can not survey and linear Feedback Control rule gain it is larger
The problems such as, the present invention proposes a kind of control method of the flexible mechanical arm system based on non-linear Auto Disturbances Rejection Control Technique, uses
Extended state observer (Extended State Observer, ESO) estimating system state and external disturbance etc. can not survey item,
And the higher differentiation of input signal is obtained by Nonlinear Tracking Differentiator, while LINEARIZATION WITH DYNAMIC COMPENSATION is added using nonlinear feedback
Control method obtains controlled quentity controlled variable, tracks desired signal with realizing system fast and stable.
In order to solve the above-mentioned technical problem the technical solution proposed is as follows：
A kind of flexible mechanical arm control method based on non-linear Auto Disturbances Rejection Control Technique, includes the following steps：
Step 1：Establish the Equation of Motion as shown in formula (1)：
Wherein, q1For input end of motor rotational angle,For input end of motor angular acceleration,Add for input end of motor angle
Acceleration, q2For motor output end rotational angle,For motor output end angular acceleration,Accelerate for motor output end angle
Degree, I are connection inertia, and J is motor inertia, and K is mechanical arm rigidity, and u is input torque, and M and L are load quality and loading moment
Length；
Step 2：Definition status variable：Formula (1) is rewritten as
It is mapped by differomorphism and is written as formula (2)
Finally obtaining the system state equation after transformation is：
Step 3：Design quadravalence Nonlinear Tracking Differentiator
Wherein,Respectively the (i-1)-th order derivative of input signal v, r>0 is velocity factor, and v is input
Signal；
Step 4, nonlinear extension state observer is designed；
4.1 enable a (x)=a0+ Δ a, b=b0+ Δ b, d=Δ a+ Δ bu, wherein b0And a0Respectively b's and a (x) is optimal
Estimated value, it is given according to system structure；Based on the design philosophy of expansion observer, expansion state z is defined5=d, then formula (4) change
It is written as following equivalents：
4.2 enable wi, i=1,2,3,4,5 be respectively state variable z in formula (5)iObservation, define tracking errorWhereinFor desired signal, observation error eoi=zi-wi, then nonlinear extension state observer table is designed
It is up to formula：
Wherein, β1, β2, β3, β4, β5For observer gain parameter, need to be determined with Method of Pole Placement, gj(e01) be
Wherein, αj=[1,0.5,0.25,0.125,0.0625], θ=1.
Step 5, observer gain parameter beta is determined with Method of Pole Placement1, β2, β3, β4, β5Value；
5.1 enable δ x1=z1-w1, δ x2=z2-w2, δ x3=z3-w3, δ x4=z4-w4, δ x5=h-w5, then formula (6) subtract formula
(7)
If h boundeds, and g (eo1) it is smooth, g (0)=0, g ' (eo1) ≠ 0, according to Taylor's formula, formula (9) is written as
It enablesThen formula (10) is written as following state space equation form
5.2 design compensation matrixes
Then formula (11) is written as
So far, parameter betaiDetermination be converted into liDetermination, formula (12) asymptotically stable necessity under the action of disturbing h
Condition is that the characteristic value of compensation matrix A is fully fallen on the Left half-plane of complex plane, i.e. the pole of formula (12) is adequately born, by
This selectes desired pole p according to Method of Pole Placementi(i=1,2,3), makes parameter liMeet
Wherein, I is unit matrix, enables the right and left equal about polynomial each term coefficient of s, then finds out parameter respectively
l1, l2, l3, l4, l5Value, the expression formula to obtain extended state observer is
Step 6, it is based on Auto-disturbance-rejection Control design nonlinear feedback LINEARIZATION WITH DYNAMIC COMPENSATION controller u；
6.1, design nonlinear feedback：
6.2, it is as follows that automatic disturbance rejection controller is designed according to the thought of LINEARIZATION WITH DYNAMIC COMPENSATION：
Wherein, k1,k2,k3,k4Device parameter in order to control.
6.3, determine observer gain parameter k with Method of Pole Placement1,k2,k3,k4Value：
After bringing formula (16) into formula (4), have
Section 4 in formula (17) is rewritten as obtaining
It enables
Then formula (18) is written as
Formula (19) can be written as matrix formWherein
Formula (19) asymptotically stable necessary condition is that the characteristic value of compensation matrix A fully falls in the Left half-plane of complex plane
On, i.e. the pole of formula (19) is adequately born, and as a result, according to Method of Pole Placement, selectes desired pole pi(i=1,2,3,4), makes
Parameter kiMeet
Wherein, I is unit matrix, enables the right and left equal about polynomial each term coefficient of s, then finds out parameter respectively
k1,k2,k3,k4Value.
The present invention technical concept be：It can not be surveyed for part system state and there are the flexible mechanical arms of external disturbance
System devises a kind of control method based on non-linear auto-disturbance rejection technology, eliminates external disturbance as much as possible and controls system
Influence.By establishing new expansion state, extended state observer estimating system indeterminate and external disturbance are designed, and adopt
The parameter of extended state observer is determined with Method of Pole Placement, while being restrained with nonlinear Feedback Control, is realized to flexible mechanical
The fast and stable of arm system controls.
Advantages of the present invention is：The present invention by using extended state observer, can to flexible mechanical arm system mode and
External disturbance is effectively observed, and the Nonlinear control law of use improves the control efficiency of system, realizes to flexible mechanical
The accurate tracing control of arm system.
Description of the drawings：
Fig. 1 is system mode z2With its observation response curve；
Fig. 2 is system mode z2Observation error eo2Response curve；
Fig. 3 is system mode z3With its observation response curve；
Fig. 4 is system mode z3Observation error eo3Response curve；
Fig. 5 is system mode z4With its observation response curve；
Fig. 6 is system mode z4Observation error eo4Response curve；
Fig. 7 is system mode z5With its observation response curve；
Fig. 8 is system mode z5Observation error eo5Response curve；
Fig. 9 is the response curve of system output and desired signal；
Figure 10 is system tracking error ec1Response curve；
Figure 11 is the response curve of system control signal u；
Figure 12 is the basic flow of the servo system self-adaptive sliding-mode control based on extended state observer of the present invention
Cheng Tu.
Specific implementation mode：
The present invention will be further described below in conjunction with the accompanying drawings.
- Fig. 9 referring to Fig.1, a kind of servo system self-adaptive sliding-mode control based on extended state observer, including such as
Lower step：
Step 1：Establish the Equation of Motion as shown in formula (1)：
Wherein, q1For input end of motor rotational angle,For input end of motor angular acceleration,Add for input end of motor angle
Acceleration, q2For motor output end rotational angle,For motor output end angular acceleration,Accelerate for motor output end angle
Degree, I are connection inertia, and J is motor inertia, and K is mechanical arm rigidity, and u is input torque, and M and L are load quality and loading moment
Length；
Step 2：Definition status variable：Formula (1) is rewritten as
It is mapped by differomorphism and is written as formula (2)
Finally obtaining the system state equation after transformation is：
Step 3：Design quadravalence Nonlinear Tracking Differentiator
Wherein,Respectively the (i-1)-th order derivative of input signal v, r>0 is velocity factor, and v is input
Signal；
Step 4, nonlinear extension state observer is designed；
4.1 enable a (x)=a0+ Δ a, b=b0+ Δ b, d=Δ a+ Δ bu, wherein b0And a0Respectively b's and a (x) is optimal
Estimated value, it is given according to system structure；Based on the design philosophy of expansion observer, expansion state z is defined5=d, then formula (4) change
It is written as following equivalents：
4.2 enable wi, i=1,2,3,4,5 be respectively state variable z in formula (5)iObservation, define tracking errorWhereinFor desired signal, observation error eoi=zi-wi, then nonlinear extension state observer table is designed
It is up to formula：
Wherein, β1, β2, β3, β4, β5For observer gain parameter, need to be determined with Method of Pole Placement, gj(eo1) be
Wherein, αj=[1,0.5,0.25,0.125,0.0625], θ=1.
Step 5, observer gain parameter beta is determined with Method of Pole Placement1, β2, β3, β4, β5Value；
5.1 enable δ x1=z1-w1, δ x2=z2-w2, δ x3=z3-w3, δ x4=z4-w4, δ x5=h-w5, then formula (6) subtract formula
(7)
If h boundeds, and g (eo1) it is smooth, g (0)=0, g ' (eo1) ≠ 0, according to Taylor's formula, formula (9) is written as
It enablesThen formula (10) is written as following state space equation form
5.2 design compensation matrixes
Then formula (11) is written as
So far, parameter betaiDetermination be converted into liDetermination, formula (12) asymptotically stable necessity under the action of disturbing h
Condition is that the characteristic value of compensation matrix A is fully fallen on the Left half-plane of complex plane, i.e. the pole of formula (12) is adequately born, by
This selectes desired pole p according to Method of Pole Placementi(i=1,2,3), makes parameter liMeet
Wherein, I is unit matrix, enables the right and left equal about polynomial each term coefficient of s, then finds out parameter respectively
l1, l2, l3, l4, l5Value, the expression formula to obtain extended state observer is
Step 6, it is based on Auto-disturbance-rejection Control design nonlinear feedback LINEARIZATION WITH DYNAMIC COMPENSATION controller u；
6.1 designing nonlinear feedback：
6.2, it is as follows that automatic disturbance rejection controller is designed according to the thought of LINEARIZATION WITH DYNAMIC COMPENSATION：
Wherein, k1,k2,k3,k4Device parameter in order to control.
6.3, determine observer gain parameter k with Method of Pole Placement1,k2,k3,k4Value：
After bringing formula (16) into formula (4), have
It enables
Then formula (18) is written as
Formula (19) can be written as matrix formWherein
Formula (19) asymptotically stable necessary condition is that the characteristic value of compensation matrix A fully falls in the Left half-plane of complex plane
On, i.e. the pole of formula (19) is adequately born, and as a result, according to Method of Pole Placement, selectes desired pole pi(i=1,2,3,4), makes
Parameter kiMeet
Wherein I is unit matrix, enables the right and left equal about polynomial each term coefficient of s, then finds out parameter respectively
k1,k2,k3,k4Value.
For the validity and superiority of verification institute extracting method, emulation experiment is carried out, the primary condition in emulation experiment is set
With partial parameters, i.e.,：MgL=10 in system equation, K=100, I=1, J=1.Controller parameter is k1=2500, k2=850,
k3=280, k4=40；, in addition, each gain parameter in extended state observer is calculated by Method of Pole Placement, l is taken respectively1
=5*41, l2=10*412, l3=10*413, l4=5*414, l5=1*415.Each state initial value of system, Nonlinear Tracking Differentiator just
Initial value, extended state observer state initial value, controller u initial values, expansion state d initial values are set as 0.
Fig. 1-Fig. 6 indicates that each state observation effect of system and observation error, Fig. 7 and Fig. 8 indicate expansion state respectively respectively
Observation effect and observation error.From figure 2 it can be seen that observation error tends towards stability after 1 second, and maintain 2% mistake
In poor range.As can be seen that the order with system mode improves from Fig. 4, Fig. 6, Fig. 8, observation error is increased, but is seen
Surveying error can quickly reduce in 2 seconds and be maintained in 10% error range.As can be seen that expansion from simulation result
State observer can effective observation system state, estimation indeterminate and external disturbance.
Fig. 9 gives the contrast effect of desired signal and real output signal, it can be seen that system just tracks after 0.5s
Desired signal is gone up.And as can be seen from Figure 10 the tracking error of system is kept within 0.05, has good tracking essence
Degree.The controlled quentity controlled variable of system is shown in Figure 11, it can be seen from fig. 11 that system control amount can reduce and tend to after 2 seconds
Stablize, in the range of maintaining [- 15,15].
From simulation result, method of the invention can be effectively estimated and indeterminate existing for compensation system and outer
Boundary disturbs, and tracks desired signal with enabling the system to fast and stable.Obviously the present invention is not only limited to examples detailed above, the present invention's
On the basis of other similar systems can also be accurately controlled.
Claims (1)
1. a kind of flexible mechanical arm control method based on non-linear Auto Disturbances Rejection Control Technique, it is characterised in that：The control method
Include the following steps：
Step 1：Establish the Equation of Motion as shown in formula (1)：
Wherein, q1For input end of motor rotational angle,For input end of motor angular acceleration,Accelerate for input end of motor angle
Degree, q23For motor output end rotational angle,For motor output end angular acceleration,For motor output end angle acceleration, I is
Inertia is connected, J is motor inertia, and K is mechanical arm rigidity, and u is input torque, and M and L are load quality and loading moment length；
Step 2：Definition status variable：x1=q1,x3=q2,Formula (1) is rewritten as
It is mapped by differomorphism and is written as formula (2)
Finally obtaining the system state equation after transformation is：
Wherein,
Step 3：Design quadravalence Nonlinear Tracking Differentiator
Wherein,Respectively the (i-1)-th order derivative of input signal v, r>0 is velocity factor, and v is input signal；
Step 4, nonlinear extension state observer is designed；
4.1 enable a (x)=a0+ Δ a, b=b0+ Δ b, d=Δ a+ Δ bu, wherein b0And a0The optimal estimation of respectively b and a (x)
Value, it is given according to system structure；Based on the design philosophy of expansion observer, expansion state z is defined5=d, then formula (4) be rewritten as
Following equivalents：
Wherein,
4.2 enable wi, i=1,2,3,4,5 be respectively state variable z in formula (5)iObservation, define tracking errorWhereinFor desired signal, observation error eoi=zi-wi, then nonlinear extension state observer table is designed
It is up to formula：
Wherein, β1, β2, β3, β4, β5For observer gain parameter, need to be determined with Method of Pole Placement, gj(eo1) be
Wherein, αj=[1,0.5,0.25,0.125,0.0625], θ=1；
Step 5, observer gain parameter beta is determined with Method of Pole Placement1, β2, β3, β4, β5Value；
5.1 enable δ x1=z1-w1, δ x2=z2-w2, δ x3=z3-w3, δ x4=z4-w4, δ x5=h-w5, then formula (6) subtract formula (7)
If h boundeds, and g (eo1) it is smooth, g (0)=0, g ' (eo1) ≠ 0, according to Taylor's formula, formula (9) is written as
It enablesI=1,2,3,4,5, then formula (10) be written as following state space equation form
5.2 design compensation matrixes
Then formula (11) is written as
So far, parameter betaiDetermination be converted into liDetermination, formula (12) asymptotically stable necessary condition under the action of disturbing h
It is that the characteristic value of compensation matrix A is fully fallen on the Left half-plane of complex plane, i.e. the pole of formula (12) is adequately born, as a result, root
According to Method of Pole Placement, desired pole p is selectedi(i=1,2,3), makes parameter liMeet
Wherein, I is unit matrix, enables the right and left equal about polynomial each term coefficient of s, then finds out parameter l respectively1,
l2, l3, l4, l5Value, the expression formula to obtain extended state observer is
Step 6, it is based on Auto-disturbance-rejection Control design nonlinear feedback LINEARIZATION WITH DYNAMIC COMPENSATION controller u；
6.1, design nonlinear feedback：
Wherein,δ=1；
6.2, it is as follows that automatic disturbance rejection controller is designed according to the thought of LINEARIZATION WITH DYNAMIC COMPENSATION：
Wherein, k1,k2,k3,k4Device parameter in order to control；
6.3, determine observer gain parameter k with Method of Pole Placement1,k2,k3,k4Value：
After formula (16) is substituted into formula (6), have
Section 4 in formula (17) is rewritten as obtaining
Wherein,For four subderivatives of e,
It enables
Then formula (18) is written as
Formula (19) is written as matrix formWherein
Formula (19) asymptotically stable necessary condition is that the characteristic value of compensation matrix A is fully fallen on the Left half-plane of complex plane,
That is the pole of formula (19) is adequately born, and as a result, according to Method of Pole Placement, selectes desired pole pi, i=1,2,3,4, make parameter
kiMeet
Wherein I is unit matrix, enables the right and left equal about polynomial each term coefficient of s, then finds out parameter k respectively1,k2,
k3,k4Value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610115010.9A CN105563489B (en) | 2016-03-01 | 2016-03-01 | Flexible mechanical arm control method based on non-linear Auto Disturbances Rejection Control Technique |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610115010.9A CN105563489B (en) | 2016-03-01 | 2016-03-01 | Flexible mechanical arm control method based on non-linear Auto Disturbances Rejection Control Technique |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105563489A CN105563489A (en) | 2016-05-11 |
| CN105563489B true CN105563489B (en) | 2018-08-17 |
Family
ID=55874397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610115010.9A Active CN105563489B (en) | 2016-03-01 | 2016-03-01 | Flexible mechanical arm control method based on non-linear Auto Disturbances Rejection Control Technique |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105563489B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113040B (en) * | 2016-07-19 | 2018-03-16 | 浙江工业大学 | The system ambiguous control method of flexible mechanical arm based on connection in series-parallel estimation model |
| CN106406325B (en) * | 2016-07-27 | 2019-05-31 | 浙江工业大学 | Quadrotor drone modified feedback linearization control method based on Fuzzy Extension state observer |
| CN106493735B (en) * | 2016-12-09 | 2018-08-17 | 西北工业大学 | There are the flexible mechanical arm disturbance observation control methods of external disturbance |
| CN108181914B (en) * | 2017-12-11 | 2020-04-14 | 西北工业大学 | Neutral buoyancy robot posture and track active disturbance rejection control method |
| CN108555913B (en) * | 2018-06-15 | 2021-04-27 | 天津大学 | Passive-based active disturbance rejection control method for position/force of mobile mechanical arm |
| CN108772838B (en) * | 2018-06-19 | 2021-04-27 | 河北工业大学 | Mechanical arm safe collision strategy based on external force observer |
| CN108628172B (en) * | 2018-06-25 | 2021-05-07 | 南京理工大学 | Mechanical arm high-precision motion control method based on extended state observer |
| CN109108964B (en) * | 2018-07-25 | 2021-06-08 | 西北工业大学 | Spatial mechanical arm coordination control method based on adaptive dynamic programming Nash game |
| CN109465825B (en) * | 2018-11-09 | 2021-12-10 | 广东工业大学 | RBF neural network self-adaptive dynamic surface control method for flexible joint of mechanical arm |
| CN109465827B (en) * | 2018-11-22 | 2021-12-10 | 广东工业大学 | Single-feedback single-drive rigid-flexible coupling platform control method |
| CN110687870B (en) * | 2019-08-28 | 2020-11-27 | 济南大学 | Mechanical arm tracking controller and system based on nonlinear extended state observer |
| CN111335055B (en) * | 2020-02-10 | 2021-08-03 | 浙江工业大学 | Multi-strand tension balancing self-adaptive control system and method |
| CN112476439B (en) * | 2020-11-20 | 2021-11-23 | 燕山大学 | Self-adaptive feedback linearization control method and system for robot valve control cylinder driver |
| CN114290327B (en) * | 2021-11-25 | 2023-05-30 | 江苏集萃智能制造技术研究所有限公司 | Six-axis mechanical arm control system based on first-order variable gain ADRC |
| CN114624994B (en) * | 2022-04-07 | 2022-11-11 | 安徽大学 | Novel active disturbance rejection control method and system of high-order flexible linear system |
| CN116352705B (en) * | 2023-02-28 | 2024-01-09 | 南通大学 | Underwater mechanical arm disturbance rejection prediction control method based on data driving |
| CN117885103B (en) * | 2024-03-14 | 2024-05-17 | 山东大学 | Flexible mechanical arm control method and system based on reduced-order expanded state observer |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102785244A (en) * | 2012-07-20 | 2012-11-21 | 浙江工业大学 | Space circular arc planning control method for multi-axial servo manipulator |
| CN102873675A (en) * | 2012-09-19 | 2013-01-16 | 浙江工业大学 | Biomimetic crop picking robot |
| CN103213129A (en) * | 2013-04-17 | 2013-07-24 | 北京空间飞行器总体设计部 | Position/force hybrid control method for space manipulator |
| CN103317507A (en) * | 2013-06-07 | 2013-09-25 | 浙江工业大学 | Chinese teaching method of manipulator motion controller |
| CN103331756A (en) * | 2013-06-04 | 2013-10-02 | 浙江工业大学 | Mechanical arm motion control method |
| CN103406909A (en) * | 2013-07-24 | 2013-11-27 | 黑龙江科技大学 | Tracking control device and method of mechanical arm system |
| CN104589349A (en) * | 2015-01-16 | 2015-05-06 | 西北工业大学 | Combination automatic control method with single-joint manipulator under mixed suspension microgravity environments |
| CN104842355A (en) * | 2015-01-20 | 2015-08-19 | 西北工业大学 | Mixed-integer prediction control method for redundant space robot under obstacle avoidance restraint |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201313415A (en) * | 2011-09-19 | 2013-04-01 | Hon Hai Prec Ind Co Ltd | System and method for adjusting mechanical arm |
| JP2015150676A (en) * | 2014-02-19 | 2015-08-24 | キヤノン株式会社 | Robot device, robot control method and program, and recording medium |
-
2016
- 2016-03-01 CN CN201610115010.9A patent/CN105563489B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102785244A (en) * | 2012-07-20 | 2012-11-21 | 浙江工业大学 | Space circular arc planning control method for multi-axial servo manipulator |
| CN102873675A (en) * | 2012-09-19 | 2013-01-16 | 浙江工业大学 | Biomimetic crop picking robot |
| CN103213129A (en) * | 2013-04-17 | 2013-07-24 | 北京空间飞行器总体设计部 | Position/force hybrid control method for space manipulator |
| CN103331756A (en) * | 2013-06-04 | 2013-10-02 | 浙江工业大学 | Mechanical arm motion control method |
| CN103317507A (en) * | 2013-06-07 | 2013-09-25 | 浙江工业大学 | Chinese teaching method of manipulator motion controller |
| CN103406909A (en) * | 2013-07-24 | 2013-11-27 | 黑龙江科技大学 | Tracking control device and method of mechanical arm system |
| CN104589349A (en) * | 2015-01-16 | 2015-05-06 | 西北工业大学 | Combination automatic control method with single-joint manipulator under mixed suspension microgravity environments |
| CN104842355A (en) * | 2015-01-20 | 2015-08-19 | 西北工业大学 | Mixed-integer prediction control method for redundant space robot under obstacle avoidance restraint |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105563489A (en) | 2016-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105563489B (en) | Flexible mechanical arm control method based on non-linear Auto Disturbances Rejection Control Technique | |
| Wang et al. | Practical tracking control of robot manipulators with continuous fractional-order nonsingular terminal sliding mode | |
| CN104614984B (en) | High-precision control method of motor position servo system | |
| CN106055753B (en) | The steering engine of electrohydraulic load simulator redundant force instructs Dynamic Compensation Control Method | |
| Yao et al. | Nonlinear adaptive robust backstepping force control of hydraulic load simulator: Theory and experiments | |
| CN103411479B (en) | Sliding mode and active disturbance rejection based composite control method of tank gun controlling system | |
| CN110928182B (en) | Robust self-adaptive repetitive control method of hydraulic servo system based on state estimation | |
| CN110467111B (en) | Control of bridge cranes | |
| CN106483844B (en) | The implementation method of electrohydraulic servo system adaptive location controller based on non linear robust | |
| CN112207834B (en) | Robot joint system control method and system based on disturbance observer | |
| Zheng et al. | Tracking control of manipulator based on high-order disturbance observer | |
| CN108155833B (en) | Motor servo system asymptotic stable control method considering electrical characteristics | |
| Han et al. | Compound velocity synchronizing control strategy for electro-hydraulic load simulator and its engineering application | |
| CN105182984A (en) | Linear active disturbance rejection control (ADRC) design and parameter tuning of aircraft pitch attitude | |
| Itagaki et al. | Control system design of a linear motor feed drive system using virtual friction | |
| CN116339141B (en) | Mechanical arm global fixed time track tracking sliding mode control method | |
| CN106100469B (en) | Implementation method based on adaptive motor servo system robust position controller | |
| Ding et al. | Tracking control of electro-hydraulic servo multi-closed-chain mechanisms with the use of an approximate nonlinear internal model | |
| CN104965412B (en) | The ADAPTIVE ROBUST output feedback ontrol method of controlledization flat pad | |
| CN105956325B (en) | The dynamic speed synchronisation control means of electrohydraulic load simulator redundant force | |
| CN106383443B (en) | Anti-interference control method and system | |
| Li et al. | Output feedback adaptive robust control of hydraulic actuator with friction and model uncertainty compensation | |
| CN109426150A (en) | Load simulator backstepping control method based on extended state observer | |
| Feliu-Talegon et al. | Control of very lightweight 2-DOF single-link flexible robots robust to strain gauge sensor disturbances: A fractional-order approach | |
| Xu et al. | Output feedback disturbance rejection control for full-state constrained hydraulic systems with guaranteed tracking performance |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |