Adaptive Trajectory Tracking Control of Manipulator Based on Velocity Information Fusion

被引：1
|
作者：
Zhang L. [1 ,2 ]
Liu Y. [1 ,2 ]
Wang X. [1 ,2 ]
Huang J. [3 ]
机构：
[1] School of Electronics and Information, Xi'an Polytechnic University, Xi'an
[2] Shaanxi Joint Laboratory of Artificial Intelligence, School of Electronics and Information, Xi'an Polytechnic University, Xi'an
[3] School of Automation Science and Engineeiing, Xi'an Jaaotong University, Xi'an
来源：
Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University | 2022年 / 56卷 / 07期
关键词：
backstep-ping adaptive control; manipulator; multi-sensor information fusion; trajectory tracking control;
D O I：
10.7652/xjtuxb202207006
中图分类号：
学科分类号：
摘要：
As the trajectory tracking accuracy is affected by parameter uncertainty and velocity imprecision of the manipulator dynamic model, the method of adaptive trajectory tracking control of manipulators based on multi-sensor information fusion is proposed. the system to simplify the dynamic model of the manipulator. Secondly, backstepping control method is applied to design the control law for the manipulator system, and the adaptive laws are designed for the uncertain parameters in the dynamic model. Finally, considering the low of reliability velocity information by only using the difference value of the position sensor or the measured value of the tachometer, the method of multi-sensor information fusion provides more accurate velocity information for the controller.Simulation and experimental results show that using the fusion velocity information can improve the accuracy and stability of the proposed method, velocity information accuracy increased by 7%. Compared with backstepping control method and adaptive control method, the proposed method of traction has better traction performance control, the tracking error is reduced by 30% and 50%, respectively. © 2022 Xi'an Jiaotong University. All rights reserved.
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页码：47 / 55
页数：8
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