| Popis: |
For high precision and stability position and attitude control of manipulator, the model prediction and dynamics inversion control method is proposed. Based on kinematics law of manipulator, the future states of the system under free motion is predicted according to the current state of the system, and compared with the desired states to obtain the state deviation estimation; Based on the generalized inverse matrix theory, the current control instructions are obtained by inverting the dynamics of the manipulator. The compensation control law is constructed by using the state deviation information of the system in the past control period, so that the system can achieve high precision and high stability state tracking control under the condition of internal / external disturbance, unmodeled dynamics and deviation of model parameters. The effectiveness of the control law and the robustness to disturbances and parameters are verified by simulation. |
