Trajectory tracking control strategy of the gantry welding robot under the influence of uncertain factors
In this paper, aiming at the problem of high-precision trajectory tracking of the gantry welding robot system under the influence of uncertain factors, a composite adaptive fuzzy compensation controller based on the computed torque control strategy has been proposed. The controller is composed of an...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2023-01-01
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| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/00202940221122233 |
| _version_ | 1797938239760236544 |
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| author | Hongwei Sun Haonan Wang Yicun Xu Jiong Yang Yujie Ji Lei Cheng Chao Liu Benshun Zhang |
| author_facet | Hongwei Sun Haonan Wang Yicun Xu Jiong Yang Yujie Ji Lei Cheng Chao Liu Benshun Zhang |
| author_sort | Hongwei Sun |
| collection | DOAJ |
| description | In this paper, aiming at the problem of high-precision trajectory tracking of the gantry welding robot system under the influence of uncertain factors, a composite adaptive fuzzy compensation controller based on the computed torque control strategy has been proposed. The controller is composed of an adaptive fuzzy feedback control strategy and a dead zone adaptive fuzzy control strategy, which realizes high-precision trajectory tracking of the gantry welding robot, improves the solving speed of the control algorithm, and its tracking errors has been reduced. Screw theory and Lie group lie algebra are used to solve the problem of high algorithm complexity of controllers in multi-degree-of-freedom robot systems due to Newton-Euler dynamics modeling. Based on the computed torque control, the adaptive fuzzy feedback control strategy is adopted to compensate for the modeling errors and external disturbances in the gantry welding robot system, and the dead zone adaptive fuzzy control strategy is designed to compensate for the nonlinear dead zone structure with unknown parameters. The Lyapunov equation is introduced to prove the stability of the controller. Finally, the controller designed in this paper is compared with the conventional controller through simulation and experiment on the gantry welding robot platform, which verifies the effectiveness and superiority of the controller. |
| first_indexed | 2024-04-10T18:56:36Z |
| format | Article |
| id | doaj.art-312394b962ce48caa40acd6b39864aa1 |
| institution | Directory Open Access Journal |
| issn | 0020-2940 |
| language | English |
| last_indexed | 2024-04-10T18:56:36Z |
| publishDate | 2023-01-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Measurement + Control |
| spelling | doaj.art-312394b962ce48caa40acd6b39864aa12023-01-31T18:04:45ZengSAGE PublishingMeasurement + Control0020-29402023-01-015610.1177/00202940221122233Trajectory tracking control strategy of the gantry welding robot under the influence of uncertain factorsHongwei Sun0Haonan Wang1Yicun Xu2Jiong Yang3Yujie Ji4Lei Cheng5Chao Liu6Benshun Zhang7Jiangsu Automation Research Institute, Lianyungang, Jiangsu, ChinaSchool of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou, ChinaSchool of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou, ChinaSchool of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou, ChinaSchool of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou, ChinaSchool of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou, ChinaJiangsu Automation Research Institute, Lianyungang, Jiangsu, ChinaJiangsu Automation Research Institute, Lianyungang, Jiangsu, ChinaIn this paper, aiming at the problem of high-precision trajectory tracking of the gantry welding robot system under the influence of uncertain factors, a composite adaptive fuzzy compensation controller based on the computed torque control strategy has been proposed. The controller is composed of an adaptive fuzzy feedback control strategy and a dead zone adaptive fuzzy control strategy, which realizes high-precision trajectory tracking of the gantry welding robot, improves the solving speed of the control algorithm, and its tracking errors has been reduced. Screw theory and Lie group lie algebra are used to solve the problem of high algorithm complexity of controllers in multi-degree-of-freedom robot systems due to Newton-Euler dynamics modeling. Based on the computed torque control, the adaptive fuzzy feedback control strategy is adopted to compensate for the modeling errors and external disturbances in the gantry welding robot system, and the dead zone adaptive fuzzy control strategy is designed to compensate for the nonlinear dead zone structure with unknown parameters. The Lyapunov equation is introduced to prove the stability of the controller. Finally, the controller designed in this paper is compared with the conventional controller through simulation and experiment on the gantry welding robot platform, which verifies the effectiveness and superiority of the controller.https://doi.org/10.1177/00202940221122233 |
| spellingShingle | Hongwei Sun Haonan Wang Yicun Xu Jiong Yang Yujie Ji Lei Cheng Chao Liu Benshun Zhang Trajectory tracking control strategy of the gantry welding robot under the influence of uncertain factors Measurement + Control |
| title | Trajectory tracking control strategy of the gantry welding robot under the influence of uncertain factors |
| title_full | Trajectory tracking control strategy of the gantry welding robot under the influence of uncertain factors |
| title_fullStr | Trajectory tracking control strategy of the gantry welding robot under the influence of uncertain factors |
| title_full_unstemmed | Trajectory tracking control strategy of the gantry welding robot under the influence of uncertain factors |
| title_short | Trajectory tracking control strategy of the gantry welding robot under the influence of uncertain factors |
| title_sort | trajectory tracking control strategy of the gantry welding robot under the influence of uncertain factors |
| url | https://doi.org/10.1177/00202940221122233 |
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