欠驱动多体系统的脱敏运动规划

P. Boscariol, D. Richiedei
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引用次数: 0

摘要

模型-植物不匹配严重限制了传统的基于模型的运动设计方法的有效性。为了解决这一问题,本文提出了一种能够减少参数不确定性影响的鲁棒轨迹规划方法。该方法基于间接变分公式,将其转化为两点边值问题(TPBVP),然后进行数值求解。鲁棒性是通过在问题中加入目标的灵敏度函数,并对轨迹的初始点和最终点施加一些附加约束来获得的。提出了一种既能减小残余和瞬态振荡,又能减小控制工作量的方法。该工作通过展示该方法在执行快速休止运动时的有效性和鲁棒性,对欠驱动系统(如双摆起重机)的有效性进行了数值验证。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Desensitized motion planning for underactuated multibody systems
Model-plant mismatches can severely limit the effectiveness of conventional model-based motion design methods. To solve this issue, a method for robust trajectory planning that can reduce the effects of parametric uncertainties is presented in this work. The method is based on an indirect variational formulation, which is translated into a Two-Point Boundary Value Problem (TPBVP) and then solved numerically. Robustness is obtained by incorporating into the problem the sensitivity functions of the plant, and imposing some additional constraints on the initial and final points of the trajectory. A formulation aimed at reducing both the residual and the transient oscillations, as well as keeping small the control effort, is also proposed. The work presents a numerical verification of the effectiveness of the method for an underactuated system, such as a double-pendulum crane, by showing its effectiveness and robustness when performing fast rest-to-rest motions.
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