Research On Decentralized Trajectory Tracking Control Method Of Modular Robots Based On Adaptive Terminal Sliding Mode

Due to the modular robot has the characteristics of low cost and high flexibility,it can also have greater practicality for the environment and operation tasks.Therefore,modular robotic arms have been widely developed in recent years,and they are often used in deep space exploration,intelligent manufacturing,high-risk missions,and medical industries,and so on.The modular robot usually consists of a power supply,control system,and various related sensor modules.These subsystem modules are composed of standardized mechanical modules and electrical components with the same interface,which can be freely combined according to the needs of our different tasks.It can replace installation and routine maintenance,and it also greatly improves the reliability of the system.Therefore,in-depth research on modular robots has important theoretical significance.The main research contents of this paper are as follows:1.Thoughts on the significance of the topic and the background of the topic.From the domestic and foreign research on the modular robot,the present situation and development of modular robot are analyzed,and simply explains the existing problems in the current research,as well as the advantages of decentralized control,sliding mode control and adaptive neural network,and determines the research objectives of this paper.2.The dynamic model was established based on the modular robot of the torque sensor.Based on the previous analysis of the dynamic model of the traditional robotic arm,combined with the concept of modularity and considering the uncertainty of the system,a dynamic model of the modular robot system based on the torque sensor was established.According to the dynamic model of the modular robot,the state space expression of the system and the failure model of the modular robot are established when the actuator faults.3.Research on decentralized trajectory tracking control method of the modular robot.By using the decentralized control method,the dynamic model of the highly complex modular robot is decomposed into multiple coupled subsystems,and the controller is designed for each subsystem,and the operation speed of the system is effectively improved.In the controller,the radial basis function(RBF)is used to compensate for the friction and interconnection terms of the manipulator system,which achieves a high-precision control effect on the manipulator,and the terminal sliding mode is introduced to weaken the chattering phenomenon,improving the robustness of the system.The stability of the controller is verified by the Lyapunov function stability method.Finally,the stability and reliability of the control strategy were verified by Quanser modular robot simulation platform.4.Considering the fault of the modular robot system,that is,the fault of the system actuator,a decentralized fault-tolerant control strategy based on a sliding mode observer is proposed.According to the designed sliding mode observer,the actuator faults are observed in real-time.Besides,for the uncertainty of the manipulator system,that is the friction of joints and the Interconnection term between joints.the adaptive control strategy is added to the sliding mode controller to compensate,and the modular manipulator active decentralized fault-tolerant control is realized.Finally,the effectiveness of the controller is verified by the Quanser modular robot experimental platform.5.the full-text summary.