FRACTIONAL-ORDER SLIDING MODE OPTIMIZATION CONTROL METHOD FOR FLEXIBLE-JOINT ROBOTIC ARM

WIPO Patent Application WO/2020/124938

A1

Disclosed is a fractional-order sliding mode optimization control method for a flexible-joint robotic arm. With regard to the buffeting and trajectory tracking control problems existing in integer-order sliding mode kinetic control for robotic arm joint flexibility, in conjunction with the advantages of sliding mode variable structure control, by introducing the fractional-order calculus theory and by using rapid convergence, information memory and heredity features of a fractional-order differential operator to optimize and improve the approximation precision of the fractional-order differential operator on the basis of a conventional fractional-order indirect discretization Oustaloup algorithm, a new fractional-order sliding mode variable structure controller with strong robustness, a strong anti-interference performance and a better buffeting weakening effect is provided, so that a joint flexibility kinetic control system for a robotic arm has better continuity, rapidity and robustness and a good anti-interference performance. Finally, the design of a fractional-order sliding mode variable structure control method is realized.

WANG YUNHE (CN)
WANG JIHU (CN)
XIA ZHENGXIAN (CN)
WANG JIEGAO (CN)

PCT/CN2019/086551

June 25, 2020

May 13, 2019

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NANJING ESTUN ROBOTICS CO LTD (CN)

G05B13/04

CN109683478A	2019-04-26
CN108181813A	2018-06-19
CN106354962A	2017-01-25
CN102591207A	2012-07-18
JP2009181392A	2009-08-13

NANJING RUIZHIBO INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)

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