基于双连杆机械手规定性能的事件触发优化控制

Xinying Chen, Baili Su
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引用次数: 0

摘要

摘要 本文研究了一种基于规定性能的事件触发优化控制方法,适用于受约束的双连杆机械手系统。为了满足系统的性能约束,通过两个辅助函数和规定性能技术建立了动力学模型的等效误差模型。通过求解该转换误差模型的约束优化问题,可获得基于自适应事件触发机制的预测控制器,并可根据系统的实时变化调整触发阈值。该控制器实现了关节角度与期望角度的跟踪,并满足规定的性能条件。最后,通过数值模拟以及与其他规定性能函数的比较,证明该控制算法是提高控制性能的有效方法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Event‐triggered optimal control based on prescribed performance for a two‐link robotic manipulator
SummaryIn this article, an event‐triggered optimal control method based on prescribed performance is investigated for a constrained two‐link robotic manipulator system. To satisfy the performance constraints of the system, an equated error model of the dynamics model is established by means of two auxiliary functions and the prescribed performance technique. A predictive controller based on an adaptive event triggering mechanism is obtained by solving a constraint optimization problem for this transformed error model, and the triggering threshold can be adjusted based on real‐time changes of the system. This controller realizes the tracking of the joint angle with the desired angle and meets the prescribed performance conditions. Finally, the control algorithm is shown to be an effective method for improving control performance through numerical simulations and comparison with other prescribed performance functions.
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