A nonlinear optimal control approach for 3-DOF four-cable driven parallel robots

自主智能系统(英文) Pub Date : 2024-07-01 DOI:10.1007/s43684-024-00066-w

G. Rigatos, M. Abbaszadeh, J. Pomares

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Abstract

In this article, a nonlinear optimal control approach is proposed for the dynamic model of 3-DOF four-cable driven parallel robots (CDPR). To solve the associated nonlinear optimal control problem, the dynamic model of the 3-DOF cable-driven parallel robot undergoes approximate linearization around a temporary operating point that is recomputed at each time-step of the control method. The linearization relies on Taylor series expansion and on the associated Jacobian matrices. For the linearized state-space model of the 3-DOF cable-driven parallel robot a stabilizing optimal (H-infinity) feedback controller is designed. To compute the controller’s feedback gains an algebraic Riccati equation is repetitively solved at each iteration of the control algorithm. The stability properties of the control method are proven through Lyapunov analysis. The proposed nonlinear optimal control approach achieves fast and accurate tracking of reference setpoints under moderate variations of the control inputs and a minimum dispersion of energy.

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3-DOF 四缆驱动并联机器人的非线性优化控制方法

本文针对 3-DOF 四缆驱动并联机器人（CDPR）的动态模型提出了一种非线性优化控制方法。为了解决相关的非线性优化控制问题，3-DOF 缆线驱动并联机器人的动态模型围绕一个临时工作点进行近似线性化，该工作点在控制方法的每个时间步中重新计算。线性化依赖于泰勒级数展开和相关的雅各布矩阵。针对线性化的 3-DOF 拉索驱动并联机器人状态空间模型，设计了一个稳定的最优（H-无限）反馈控制器。为了计算控制器的反馈增益，在控制算法的每次迭代中都要重复求解代数 Riccati 方程。通过 Lyapunov 分析证明了控制方法的稳定性。所提出的非线性优化控制方法可在控制输入变化适中和能量分散最小的情况下，快速、准确地跟踪参考设定点。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

自主智能系统(英文)

CiteScore

3.90

自引率

0.00%

发文量