Research On Tracking Control Of Two Types Of Kinematic Systems With Disturbance And State-constrained

In practice,the mechanical system is affected by all kinds of interference in the working process,and it is also limited by some constraints,such as speed,acceleration and so on.Therefore,the research on the control of mechanical system under interference and restriction has certain theoretical and application value.Because the general nonlinear control method can't solve this kind of control problem well,this paper focuses on two types of manipulator systems with and without flexible joints and one type of non-integrated chain system for tracking control research under disturbance and state constraints.The main contents are as follows:On the basis of theoretical knowledge,the dynamic analysis of several kinds of mechanical systems is carried out before the study of tracking control.On the basis of certain assumptions,the simplified mechanical arm model is established by using Lagrange method.Based on the simplified model of flexible joint robot proposed by Spong,the dynamic model of flexible joint robot system is established by Lagrange equation method.It provides the basis for the following anti-interference control and tracking control.A new non-linear disturbance observer(NOD)is proposed for the dual link manipulator system with external disturbance.The stability of the NDO is proved by selecting the appropriate observer gain matrix.The tracking control strategy based on NDO is designed,and the asymptotic tracking is realized.At the same time,a sliding mode controller is designed for the simplified model by introducing the integral sliding mode surface to make the tracking error asymptotically converge to zero.Finally,the effectiveness of the above control algorithm is verified by a simulation example.Aiming at the flexible joint robot system with external disturbance,the design of tracking controller based on disturbance observer is studied.According to the modeling analysis in Chapter 2,the dynamic equation and its properties of the multi-link flexible joint robot are described,and the system is transformed into chain form.The asymptotic tracking of external disturbances is realized by introducing a class of NDOS.The trajectory tracking controller is designed by using the backstepping method to ensure the asymptotic stability of the tracking error system.Finally,the simulation results are given to show the accuracy and effectiveness of the controller.A trajectory tracking control algorithm with all state constraints is proposed for a class of nonholonomic chained systems.The tracking control law is designed by combining barrier Lyapunov function(BLF),relay switching and backstepping.The control law can guarantee that the state of the system asymptotically follows the expected trajectory,and it can realize all state constraints at the same time.Finally,the effectiveness of the proposed relay switch tracking control strategy is verified by two robot systems.In summary,this paper models the two types of robotic arm systems in the presence of external interference,and designs anti-interference and trajectory tracking control on this basis.This paper also gives a system model for non-holonomic systems,The trajectory tracking control design is carried out under the condition of limited state.