Robust Controller Design Of Multi Joint Robots

With the development of science and technology,industrial robots have gradually developed into important automation equipment in the manufacturing field,and its research is of great significance.Multi joint robot is an important part of industrial robot application.Its control has always been a challenging task.Multi joint robot is a very complex nonlinear system.There are often uncertain factors such as interference and model error,which makes it very difficult to control,especially the tracking control of the precision model by using the manipulator.Therefore,robust and tracking control for multi joint robot systems with uncertainties is particularly important.In order to ensure the robust stability of the system and achieve accurate tracking of the trajectory of the manipulator,several robust tracking control methods are proposed in this paper based on the robust right coprime factorization method,the robust and tracking control of multi joint robot system is studied.First,for nonlinear systems with uncertainty,a robust tracking control method based on the theory of operator is introduced.By designing the observer,the system can achieve good tracking effect while ensuring stability.Secondly,a robust control method based on internal model is designed in this paper.Through the design of internal model controller and tracking controller,the influence of the uncertainty on the system is eliminated,and the system is fully tracked at the same time when the system is stable.Finally,a robust fault tolerant control method based on operator compensation is designed.The detection operator is used to detect the fault signal.Then the signal is compensated according to the function of the compensator.The effect of the fault signal on the system is eliminated,and the system is kept stable and complete tracking of the system is realized.In this paper,the two joint manipulator is studied.In order to keep the robust stability of the manipulator and have good tracking performance,several control schemes are proposed and compared in the simulation.First,a PI tracking controller is introduced in this paper.The simulation shows that the tracking performance is good,but the tracking error is relatively large.Then,a robust control method based on the operator observer is introduced.The effect of uncertainty to the system is eliminated by the design observer.Simulation results show that this method improves the precise control of the system.Then,the robust control method based on internal model is designed.The simulation shows that this method has strong robustness and can achieve accurate tracking.Finally,a robust fault-tolerant control method based on operator compensation is proposed,the compensator and the tracker are designed.It is proved through simulation that the control method can eliminate the influence of faults on the system.The stability of the system is guaranteed,and the perfect output tracking of nonlinear feedback system is achieved simultaneously.