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International Conference on Material Science and Engineering Technology (ICMSET 2011)

作者： Wu, Chao Zhang, Gang Ge, Yunwang Dept. of Electric Engineering and Automation Luoyang Institute of Science and Technology Luoyang Henan China

ISBN: (纸本)9783037853610

Design of manipulator control system for injection molding machine is raised in this paper. One servo motor and 32 pairs of IO of pneumatic actuators are applied to realize motion control towards manipulator. Functions such as precisely locating, multi-position start/stop and automatic mode operation are achieved through collaborative work of CPU and CPLD. Finally, the result indicates the control system is reliable and efficient.

关键词： manipulator control system Minas A5 servo controller Serial port communication Position control mode

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A Parallel Levenberg-Marquardt Algorithm for Recursive Neural Network in a Robot control system

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INTERNATIONAL JOURNAL OF COGNITIVE INFORMATICS AND NATURAL INTELLIGENCE 2018年第2期12卷 32-47页

作者： Wang, Wei Pu, Yunming Li, Wang Jimei Univ Coll Comp Engn Xiamen Peoples R China

This article has the purpose of overcoming the shortcomings of the recursive neural network learning algorithm and the inherent delay problem on the manipulator master control system. This is by analyzing the shortcomings of LM learning algorithms based on DRNN network, an improved parallel LM algorithm is proposed. The parallel search of the damping coefficient p is found in order to reduce the number of iterations of the loop, and the algorithm is used to decompose the parameter operation and the matrix operation into the processor (core), thereby improve the learning convergence speed, and control the scale of the delay. The simulation results show that the pro-posed algorithm is feasible.

关键词： Damping Coefficient DRNN LM Algorithm manipulator control system

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Adaptive Fractional-order Non-singular Fast Terminal Sliding Mode control Based on Fixed Time Observer

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 2022年第13期236卷 7006-7016页

作者： Shi, Ran Zhang, Xin Lanzhou Jiaotong Univ Sch Automat & Elect Engn Lanzhou 730070 Peoples R China Gansu Prov Engn Res Ctr Artificial Intelligence & Lanzhou Peoples R China

Aiming at the problem of low tracking accuracy of the manipulator in the presence of model parameter errors and external disturbance, this paper proposes an adaptive fractional-order non-singular fast terminal sliding mode (AFONFTSM) controller based on a fixed-time disturbance observer (FTDO). The controller is split into three portions. First, a fractional-order non-singular fast terminal sliding mode (FONFTSM) surface is designed to improve the tracking accuracy and convergence speed of the error state. Second, to enhance the performance of the system state in the approaching mode, an adaptive variable exponential power reaching law (AVEPRL) is designed, which changes the coefficient of the exponential term through the size of the system state. Meanwhile, adaptive control is used to modulate one item of the reaching law, which improves the anti-interference of the system. In the end, the real-time estimation of the external disturbance is carried out by the FTDO, which solves the problem that the magnitude of the external disturbance is difficult to be determined in the actual engineering. And the stability is verified by the Lyapunov theory. The simulation results display that the controller raised in this paper has better tracking precision, faster convergence speed, and stronger robustness.

关键词： fractional-order non-singular fast terminal sliding mode manipulator control system fixed-time disturbance observer adaptive variable exponential power reaching law

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Research on adaptive non-singular fast terminal sliding mode control based on variable exponential power reaching law in manipulators

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF systemS AND control ENGINEERING 2022年第3期236卷 567-578页

作者： Zhang, Xin Shi, Ran Lanzhou Jiaotong Univ Sch Automat & Elect Engn Lanzhou 730070 Peoples R China Gansu Prov Engn Res Ctr Artificial Intelligence & Lanzhou Peoples R China

Aiming at the manipulator control system is susceptible to model parameter uncertainty and external disturbance. In this article, an adaptive non-singular fast terminal sliding mode control based on variable exponential power reaching law is proposed. First, due to the slow convergence speed and large chattering of the traditional reaching law, the variable exponential power reaching law is designed in this article. It can adaptively change the reached speed according to the system state, improve the accuracy of the control system and reduce chattering. Second, compared to the slow convergence speed of traditional sliding mode surfaces, this article uses non-singular fast terminal sliding mode surfaces to speed up the system error convergence speed. At the same time, in view of the problem that the disturbance has an uncertain upper bound in the actual problem, the adaptive law is used to estimate the uncertain upper bound of the system disturbance. And by introducing a time-varying boundary layer to improve the symbolic function in the control law. Finally, the Lyapunov function is used to prove the stability of the control system. The simulation results show that the controller designed in this article has good position tracking performance and strong anti-disturbance ability.

关键词： Adaptive non-singular fast terminal sliding mode control variable exponential power reaching law variable boundary layer manipulator control system

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FRACTIONAL NON-SINGULAR FAST TERMINAL SLIDING MODE control BASED ON DISTURBANCE OBSERVER

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INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND control 2022年第1期18卷 93-104页

作者： Zhang, X. I. N. Quan, Ying Lanzhou Jiaotong Univ Sch Automat & Elect Engn 88 Anning West Rd Lanzhou 730070 Peoples R China Lanzhou Jiaotong Univ Gansu Prov Engn Res Ctr Artificial Intelligence & 88 Anning West Rd Lanzhou 730070 Peoples R China

In order to achieve high-precision tracking control of the manipulator control system, a fractional non-singular fast terminal sliding mode control method based on the disturbance observer is proposed. Firstly, a fractional non-singular fast terminal sliding mode surface is designed according to the theory of fractional calculus to achieve rapid convergence of the trajectory tracking error of the manipulator and improve the tracking performance of the controller;then, the super twisting algorithm is introduced into the sliding mode reaching law and the hyperbolic tangent function reduces the chattering of the control input;and the nonlinear disturbance observer is used to accurately estimate the compound uncertainty disturbance to realize the compensation of the controller;finally, the Lyapunov stability theory is used to prove the stability of the system. Finally, a simulation experiment is carried out with a two-joint manipulator as the research object, and the results verify the effectiveness and robustness of the designed controller.

关键词： manipulator control system Terminal sliding mode control Fractional calculus Super-twisting algorithm Disturbance observer

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