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论文:2024,Vol:42,Issue(2):368-376 |
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引用本文： |
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史国庆, 程嘉毅, 张建东, 杨啟明, 吴勇, 武凡. 基于反馈线性化的广义预测控制机械臂轨迹跟踪算法[J]. 西北工业大学学报 |
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SHI Guoqing, CHENG Jiayi, ZHANG Jiandong, YANG Qiming, WU Yong, WU Fan. A trajectory tracking algorithm of generalized predictive control manipulator based on feedback linearization[J]. Journal of Northwestern Polytechnical University |
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| 基于反馈线性化的广义预测控制机械臂轨迹跟踪算法 |
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| 史国庆1, 程嘉毅1, 张建东1, 杨啟明1, 吴勇1, 武凡2 |
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1. 西北工业大学 电子信息学院, 陕西 西安 710072;
2. 成都飞机设计研究所, 四川 成都 610041 |
| 摘要: |
| 分析了机械臂轨迹跟踪控制问题的特点,建立了二自由度机械臂动力学模型。为解决广义预测控制(generalized predictive control,GPC)算法难以适用于非线性系统的问题,在现有的GPC算法基础上,设计了基于反馈线性化的广义预测控制(feedback linearization-generalized predictive control,FL-GPC)算法框架,即底层为线性系统预测控制,非线性项使用预估值来进行代替,高层为迭代修正预估量,使用迭代计算的方式对非线性项进行预估。使用FL-GPC算法对二自由度机械臂的静态、动态轨迹跟踪任务进行了仿真。仿真结果表明,算法可以进行有效的机械臂轨迹跟踪控制。 |
| 关键词:
轨迹跟踪
非线性系统
广义预测控制
反馈线性化
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| A trajectory tracking algorithm of generalized predictive control manipulator based on feedback linearization |
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| SHI Guoqing1, CHENG Jiayi1, ZHANG Jiandong1, YANG Qiming1, WU Yong1, WU Fan2 |
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1. School of Electronics and Information, Northwestern Polytechnical University, Xi'an 710072, China;
2. Chengdu Aircraft Design ＆ Research Institute, Chengdu 610041, China |
| Abstract: |
| This paper analyzes the characteristics of the trajectory tracking control problem of the manipulator and establishes a two-degree-of-freedom manipulator dynamic model. In order to solve the problem that generalized predictive control(GPC) algorithm is difficult to apply to nonlinear systems, a feedback linearization-based generalized predictive control(FL-GPC) algorithm framework is designed. The bottom layer of the algorithm is the linear system predictive control and the non-linear term is replaced by the estimated value. The upper level is iteratively revised estimates and the non-linear term is estimated using the iterative calculation method. Finally, the FL-GPC algorithm is used to simulate the static and dynamic trajectory tracking tasks of a two-degree-of-freedom manipulator. Simulation results show that the algorithm can perform effective manipulator trajectory tracking control. |
| Key words:
trajectory tracking
nonlinear system generalized
predictive control
feedback linearization
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| 收稿日期: 2023-02-22
修回日期:
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| DOI: 10.1051/jnwpu/20244220368 |
| 基金项目: 陕西省重点研发计划(2022GY-089)与陕西省自然科学基础研究计划(2022JQ-593)资助 |
| 通讯作者: 张建东(1974—),副教授 e-mail:jdzhang@nwpu.edu.cn
Email：jdzhang@nwpu.edu.cn |
| 作者简介: 史国庆(1974—),副教授
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| 相关功能 |
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| 作者相关文章 |
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| 史国庆 在本刊中的所有文章 |
| 程嘉毅 在本刊中的所有文章 |
| 张建东 在本刊中的所有文章 |
| 杨啟明 在本刊中的所有文章 |
| 吴勇 在本刊中的所有文章 |
| 武凡 在本刊中的所有文章 |
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