Robot motion constraint tracking control method based on event triggering

Robot motion constraint tracking control method based on event triggering

The invention belongs to the technical field of robot system control, and particularly relates to a robot motion constraint tracking control method based on event triggering. An original motion constraint tracking control problem is converted into a new optimal control problem of an unconstrained tr...

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Hauptverfasser: HUANG RUI, ZOU CHAOBIN, CHENG HONG, SONG GUANGKUI, SHI KECHENG, PENG ZHINAN
Format: Patent
Sprache:chi ; eng
Schlagworte:
CONTROL OR REGULATING SYSTEMS IN GENERAL
CONTROLLING
FUNCTIONAL ELEMENTS OF SUCH SYSTEMS
MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS
PHYSICS
REGULATING
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creator HUANG RUI
ZOU CHAOBIN
CHENG HONG
SONG GUANGKUI
SHI KECHENG
PENG ZHINAN
description The invention belongs to the technical field of robot system control, and particularly relates to a robot motion constraint tracking control method based on event triggering. An original motion constraint tracking control problem is converted into a new optimal control problem of an unconstrained tracking error system by introducing a conversion equation. And on this basis, an intelligent learning device based on an event triggering mechanism is constructed, an internal relation between event triggering time and system state information is established, and online solution of the optimal controller is realized. The robot system is ensured to perform motion tracking control in the safety constraint space range, and the communication load and the computing resource loss of the robot system are effectively reduced. In the solving process, by introducing a stability item into a weight parameter updating rule, the requirement for an initial stability controller is relaxed, and the feasibility of the method in actua
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subjects CONTROL OR REGULATING SYSTEMS IN GENERAL
CONTROLLING
FUNCTIONAL ELEMENTS OF SUCH SYSTEMS
MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS
PHYSICS
REGULATING
title Robot motion constraint tracking control method based on event triggering
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