Abstract
Abstract
Aiming at the different working conditions of the mixed production process of collaborative robots, three kinds of controllers with the structure of sliding mode controller, backstepping controller and feedback linearisation are designed respectively, and a control structure switching method based on Petri net is proposed. The method is able to achieve better control performance by switching into different control methods to realise the relevant work tasks (tracked motion trajectories) according to the different work tasks (tracked motion trajectories) to be accomplished by the collaborative robots.
Reference5 articles.
1. Sliding mode control for mismatched uncertain systems using an extended disturbance observer [J];Ginoya;IEEE Transactions on Industrial Electronics,2014
2. Decoupling strategy for position and force control based on modal space disturbance observer [J];Nozaki;IEEE Transactions on Industrial Electronics,2014
3. Hybrid control using cyber net system [J];Wan;Control Theory & Applications,2019
4. Hybrid Petri-net Based Voltage Hybrid Control for Multi-level Nodes in Distribution Networks [J];Guo;ELECTRIC POWER,2023
5. Nash equilibrium analysis of hybrid dynamic games system based on event-triggered control [J];Chen;Control Theory & Applications,2021