摘要
针对机械臂轨迹跟踪控制问题,提出了一种基于终端约束的机械臂轨迹跟踪模型预测控制方法。首先,通过设置目标函数及约束条件将轨迹跟踪问题转化成模型预测控制的数值规划问题;其次,为保证每个预测时域内机械臂能够有效地跟踪期望轨迹,在原约束条件中施加终端状态等式约束;最后,在控制时域内通过滚动优化机制实现反馈校正控制。应用所搭建的Gazebo-Simulink机械臂联合仿真平台对该控制方法的有效性进行验证。结果表明:机械臂各关节在0.31 s内能跟踪上期望轨迹,跟踪误差降低到1×10^(-3)rad,具有良好的跟踪性能和控制平稳性。
A model predictive control method based on terminal constraint was proposed to address the trajectory tracking control problem of manipulator.Firstly,the trajectory tracking problem was transformed into a numerical programming problem of model predictive control by setting objective function and constraint conditions.Secondly,in order to ensure that each manipulator could effectively track the desired trajectory in the time domain,the terminal state equality constraint was applied to the original constraints.Finally,feedback correction control was realized by rolling optimization mechanism in the control time domain.The Gazebo-Simulink co-simulation platform was used to verify the effectiveness of the control method.The results show that the tracking error of each joint of the manipulator can be reduced to 1×10^(-3)rad within 0.31 s,which has good tracking performance and control stability.
作者
张蕾
李义帅
王晓华
王文杰
ZHANG Lei;LI Yishuai;WANG Xiaohua;WANG Wenjie(School of Electronics and Information,Xi’an Polytechnic University,Xi’an 710048,China;Shaanxi Artificial Intelligence Joint Laboratory,Xi’an Polytechnic University Branch Xi’an 710048,China)
出处
《西安工程大学学报》
CAS
2022年第4期118-126,共9页
Journal of Xi’an Polytechnic University
基金
国家自然科学基金(51607133)
陕西省科技厅科技成果转移与推广计划-技术转移转化项目(2020TG-011)
陕西省重点研发计划项目(2022GY-276)。
关键词
机械臂轨迹跟踪控制
模型预测控制
终端约束
滚动优化
联合仿真
Gazebo
manipulator trajectory tracking control
model predictive control
terminal constraint
rolling optimization
co-simulation
Gazebo
