Mechanical arm motion control method based on unknown input observer

The invention discloses a mechanical arm motion control method based on an unknown input observer. Firstly, smoothing operation is guided in for conducting equivalence transformation on a mechanical arm system dynamical model, and measurement of an acceleration signal is avoided; secondly, according...

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Bibliographic Details
Main Authors NA JING, HUANG YINGBO, CHEN MINGFANG, WU XING, JING BAORUI, GAO GUANBIN, SAN HONGJUN
Format Patent
LanguageChinese
English
Published 17.08.2018
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:The invention discloses a mechanical arm motion control method based on an unknown input observer. Firstly, smoothing operation is guided in for conducting equivalence transformation on a mechanical arm system dynamical model, and measurement of an acceleration signal is avoided; secondly, according to the dynamical model obtained after smoothing optimization, the unknown input observer of a mechanical arm is provided to be used for observing unknown external disturbance; and finally, the observed disturbance value serves as a compensation quantity to participate in controller design, and motion tracking control of the mechanical arm over command signals is achieved. By means of the method, simultaneous convergence of evaluation errors and system tracing errors of unknown disturbance can be guaranteed, the capacity of the system for resisting unknown disturbance is greatly improved, the system robustness is strengthened, and the complicated precise modeling process and dependence on the acceleration signals a
Bibliography:Application Number: CN201810478932