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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics
    
多自由度电动液压机械手的非线性最优控制
Gerasimos Rigatos1, Nikolaos Zervos2, Masoud Abbaszadeh3, Jorge Pomares4, Patrice Wira5
1Unit of Industrial Automation, Industrial Systems Institute, 26504, Rion Patras, Greece 2Unit of Digital Communications, Industrial Systems Institute, 26504, Rion Patras, Greece 3GE Global Research, General Electric, 12309 New York, USA 4Department of Systems Engineering, University of Alicante, 03690 Alicante, Spain 5IRIMAS, Université d’ Haute Alsace, 68093, Mulhouse, France
Nonlinear optimal control for multi-DOF electro-hydraulic robotic manipulators
Gerasimos Rigatos1, Nikolaos Zervos2, Masoud Abbaszadeh3, Jorge Pomares4, Patrice Wira5
1Unit of Industrial Automation, Industrial Systems Institute, 26504, Rion Patras, Greece 2Unit of Digital Communications, Industrial Systems Institute, 26504, Rion Patras, Greece 3GE Global Research, General Electric, 12309 New York, USA 4Department of Systems Engineering, University of Alicante, 03690 Alicante, Spain 5IRIMAS, Université d’ Haute Alsace, 68093, Mulhouse, France
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摘要： 本文针对多自由度电动液压机械手的动力学模型，提出了一种非线性最优(H∞)控制方法。由于电动液压机械手具有非线性和多变量的动力学特性，因此如何控制它是一个非常困难且重要的问题。本文考虑的机器人系统是由一个多连杆机械手构成的，该机械手受到旋转电动液压驱动器的驱动。本文的方法首先根据一阶泰勒级数展开和相关雅可比矩阵的计算，对电液机械手的状态空间模型进行近似线性化。紧接着，针对机械手的近似线性化模型，设计了一种稳定的H∞反馈控制器。为了计算控制器的增益，在控制算法的每一步都要求解一个代数Riccati方程。该控制方案的全局稳定性通过李雅普诺夫分析得到了证明。该控制方法保留了典型最优控制的优点，比如在控制输入有一定变化的情况下，能快速准确地跟踪参考设定值。
Abstract: A non-linear optimal (H-infinity) control approach is proposed for the dynamic model of multi-degree-of-freedom (DOF) electro-hydraulic robotic manipulators. Control of electro-hydraulic manipulators is a non-trivial problem because of their non-linear and multi-variable dynamics. In this study, the considered robotic system consists of a multi-link robotic manipulator that receives actuation from rotary electro-hydraulic drives. The article's approach relies first on approximate linearisation of the state-space model of the electro-hydraulic manipulator, according to first-order Taylor series expansion and the computation of the related Jacobian matrices. For the approximately linearised model of the manipulator, a stabilising H-infinity feedback controller is designed. To compute the controller's gains, an algebraic Riccati equation is solved at each time-step of the control algorithm. The global stability properties of the control scheme are proven through Lyapunov analysis. The proposed control method retains the advantages of typical optimal control, i.e. fast and accurate tracking of the reference setpoints under moderate variations of the control inputs.
收稿日期: 2020-02-06
通讯作者: Gerasimos Rigatos     E-mail: grigat@ieee.org
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Gerasimos Rigatos
Nikolaos Zervos
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Patrice Wira

引用本文:

Gerasimos Rigatos, Nikolaos Zervos, Masoud Abbaszadeh, Jorge Pomares, Patrice Wira. Nonlinear optimal control for multi-DOF electro-hydraulic robotic manipulators. IET Cyber-Systems and Robotics, 10.1049/iet-csr.2020.0003.

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http://www.zjujournals.com/iet-csr/CN/10.1049/iet-csr.2020.0003    或    http://www.zjujournals.com/iet-csr/CN/Y2020/V2/I2/96

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