摘要
针对存在耦合交联不确定性的可重构机械臂系统分散控制问题,提出一种基于自适应动态规划(ADP)的能耗保代价最优控制方法。基于关节力矩量测信息,建立了可重构机械臂系统的动力学模型,通过定义兼顾控制精度与能耗的性能指标函数构建哈密顿雅可比贝尔曼(HJB)方程,采用基于策略迭代(PI)的ADP算法对HJB方程进行求解,继而得到近似最优控制策略。基于Lyapunov理论对闭环可重构机械臂系统渐近稳定性进行证明,数值仿真结果验证了本文算法有效性。
In this paper,an energy guaranteed cost optimal control method based on adaptive dynamic programming(ADP)is presented for decentralized control problem of coupling crosslinking uncertainty reconfigurable robots.Based on joint torque measurement information,a reconfigurable robot dynamics model is established.According to the control precision and energy consumption of the performance index function,the Hamilton Jacobi Bellman(HJB)equation is built,then the policy iteration(PI)method is employed to solve the HJB equation and approximate the optimal control strategy.The asymptotic stability of closed-loop system is proved by Lyapunov theory.The simulation results demonstrate the effectiveness of the algorithm.
作者
刘富
安毅
董博
李元春
LIU Fu;AN Yi;DONG Bo;LI Yuan-chun(College of Communication Engineering,Jilin University,Changchun 130022,China;Beijing Advanced Innovation Center for Intelligent Robots and Systems,Beijing Institute of Technology,Beijing 100081,China;College of Electrical and Electronic Engineering,Changchun University of Technology,Changchun 130012,China)
出处
《吉林大学学报(工学版)》
EI
CAS
CSCD
北大核心
2020年第1期342-350,共9页
Journal of Jilin University:Engineering and Technology Edition
基金
国家自然科学基金项目(61374051,61503045,61773075,61703055)
智能机器人与系统高精尖创新中心开放基金项目(2018IRS22)
吉林省教育厅“十三五”科学技术项目(JJKH20170569KJ)
吉林省科技发展计划项目(20160520013JH,20160414033GH,20150520112JH).
关键词
自动控制技术
可重构机械臂
非线性最优控制
自适应动态规划
能耗保代价分散控制
策略迭代
automatic control technology
reconfigurable robots
nonlinear optimal control
adaptive dynamic programming
energy guaranteed cost decentralized optimal control
policy iteration