Study On Stabilization Control And Application Of Robot System Based On Observer Method

As a popular high-precision,multi input and output,highly nonlinear and strong coupling system,robot has attracted more and more attention in recent years,especially the software and hardware technology of industrial robot is becoming more and more mature.It is widely used in various fields,which can greatly save labor cost and improve operation accuracy.As a kind of robot,manipulator is widely used in industrial manufacturing,military,aerospace,medical rescue and other fields,so the control of manipulator has gradually attracted people’s attention.Due to the complexity of the environment of the manipulator,it is often disturbed by sensor signal acquisition and transmission,controller calculation,braking and driving,which may lead to the phenomenon of time delay in the system.And in the working process of the manipulator,the parameters such as speed,angle and position can not be measured by sensors,so the design of the state observer of the manipulator system has important practical significance.In this paper,the observer based finite time stabilization and time-delay problems of robot systems are studied,and some effective stabilization results are given.The specific contents include the following parts:(1)Research on finite time robust stabilization control of uncertain robot system based on observer.Aiming at the problems of parameter uncertainty and environmental disturbance contained in the manipulator system,and the joint Angle of the system was limited and the Angle was not limited were discussed.The equivalent Hamilton model was given by orthogonal decomposition,and the finite time observer of the system was designed.And by using Lyapunov stability theory and techniques of expansion with parameter perturbation and disturbance of the robot system does not contain parameters based on state observer is designed the limited time of robust stabilization controller.Finally,the finite time robust stabilization control results are given,and by using Simulink toolbox in Matlab platform structures,The relevant parameters of the manipulator system were set and debugged to verify the validity of the theoretical proof.(2)Research on finite time robust stabilization of time-delay robot systems,Combined with the time-delay phenomenon and parameter uncertainty of the manipulator system in the actual working environment.Firstly,the manipulator system is transformed into a port control Hamiltonian(PCH)model,combined with the system state delay term,and then the PCH model and the observer system are combined to form a new system through the dimension expansion technology.On this basis,a finite time observer is designed for it.The finite time stabilization results are given to ensure that the closedloop system can converge quickly and have good robustness when disturbed by external environment.(3)In order to verify the design of the validity of the finite time controller based on observer,first by geometric construction,adding constraints and drive and establish a state variable steps to complete the construction of the virtual prototype and using the ADAMS and MATLAB simulation platform,to build the experiment set the motion parameters of the actual mechanical arm system,Simulation combined with the virtual model is established,and according to the requirements of the system operation in MATLAB to calculate the change of the data,based on the spline function driver in the ADAMS virtual model physical movement,and the simulation results.Finally the results show that the finite time set up in this paper,based on observer controller has good control effect,It can meet the requirements of the system,achieve the desired observation position and converge in a finite time.To sum up,this paper considers the complexity of the actual working environment of the robot system,integrates the practical problems such as external interference,time delay and parameter uncertainty,and designs a qualified finite time controller according to the control requirements of the manipulator production,which improves the control accuracy and anti-interference ability of the system.It provides a more effective design scheme for the stabilization control of robot system.