一类软连续操纵器的移动地平线估计

IF 1.9 4区 工程技术 Q3 ENGINEERING, MECHANICAL
G. Bastos
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引用次数: 0

摘要

本研究提出了一种移动视界估计技术,它同时考虑了状态和参数,并减少了估计问题。参数可以是常数或时变参数,而状态则与欠驱动系统的复杂输出轨迹有关。特别是,所提出的公式考虑了额外的相等约束,作为动力学管-MPC 的对应。因此,它对概率信息(如过程噪声的概率密度函数和协方差)的依赖性降低了。此外,方法参数校准的敏感性较低,且由管约束驱动。所提出的方法可应用于不同的系统;不过,这里详细介绍的是一类通过可变流速进行流体驱动的软连续机械手,并在平面运动中进行了数值模拟演示。研究结果表明,该算法在欠驱动以及存在不确定性和外部干扰的情况下,仍能稳健地进行估算,同时对状态和结构参数矢量进行连贯估算。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Moving Horizon Estimation for a Class of Soft Continum Manipulators
This work proposes a formulation for the moving horizon estimation technique considering both states and parameters obtained simultaneously with reduced estimation issues. The parameters can be either constant or time-varying, while states are related to complex output trajectories related to underactuated systems. Particularly, the proposed formulation considers additional equality constraints as a counterpart of the dynamics tube-MPC. Thus, it becomes less dependent on probabilistic information, such as probability density function and covariance of the process noise. In addition, the calibration of the method parameters has less sensitivity and driven by the tube constraints. The proposed approach can be applied in different systems; however, here it is detailed for a class of soft continuum manipulators with fluidic actuation through a variable flow rate and demonstrated with numerical simulations in planar motion. Results indicate robustness of the algorithm estimation in a challenging scenario arising from underactuation as well as in the presence of uncertainty and external disturbance, while simultaneously states and a vector of structural parameters are coherently estimated.
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来源期刊
CiteScore
4.00
自引率
10.00%
发文量
72
审稿时长
6-12 weeks
期刊介绍: The purpose of the Journal of Computational and Nonlinear Dynamics is to provide a medium for rapid dissemination of original research results in theoretical as well as applied computational and nonlinear dynamics. The journal serves as a forum for the exchange of new ideas and applications in computational, rigid and flexible multi-body system dynamics and all aspects (analytical, numerical, and experimental) of dynamics associated with nonlinear systems. The broad scope of the journal encompasses all computational and nonlinear problems occurring in aeronautical, biological, electrical, mechanical, physical, and structural systems.
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