基于递归神经网络的冗余Stewart平台非线性定向控制

IF 5.2 2区 计算机科学 Q2 ROBOTICS
Ameer Hamza Khan, Xinwei Cao, Shuai Li
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引用次数: 0

摘要

提出了一种新的递归神经网络(RNN)控制器,用于Stewart平台的冗余分辨和方向控制。Stewart平台具有六个棱镜驱动器,使其成为一个六自由度(6-DOF)系统。在进行三维方向控制时,平台保留了3自由度的冗余度,可以利用该冗余度实现二次目标。本研究的关键新颖之处在于提出了一种无雅可比、无梯度的控制策略,该策略直接解决了角度水平的约束非线性优化问题,与传统控制器相比,显著提高了计算效率和鲁棒性。具体来说,我们提出了甲虫触角嗅觉递归神经网络(BAORNN)算法,这是一种受生物学启发的元启发式框架,绕过了冗余分辨率通常需要的计算密集型雅可比反演。定向控制问题被表述为约束优化任务,包含了节能执行器的使用目标和以不等式形式建模的机械约束。为所提出的BAORNN框架建立了理论上的稳定性和收敛性保证,确保了在各种配置下的可靠运行。为了验证该方法,我们使用Simulink中的Simscape多体库开发了一个高保真仿真环境,并在多个时变参考轨迹上进行了广泛的实验。与最先进的逆运动学控制器的定量性能比较表明,我们的方法具有优越的精度、收敛速度和约束处理能力。此外,我们通过将控制器与椅子上的Stewart平台集成在一起,展示了一个真实的应用场景,用于沉浸式驾驶和飞行模拟,展示了在运动模拟和训练系统中实际部署的潜力。总之,本文介绍了一种计算轻量级,鲁棒性和高度精确的基于rnn的控制器,该控制器专为冗余Stewart平台量身定制,具有优于传统雅可比方法的优点。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Recurrent Neural Network–Based Nonlinear Orientation Control of Redundant Stewart Platform

Recurrent Neural Network–Based Nonlinear Orientation Control of Redundant Stewart Platform

This paper presents a novel Recurrent Neural Network (RNN) controller for redundancy resolution and orientation control of the Stewart platform. The Stewart platform features six prismatic actuators, making it a six-degrees-of-freedom (6-DOF) system. When imposing three-dimensional orientation control, the platform retains a redundancy of 3-DOF, which can be utilized to achieve secondary goals. The key novelty of this study lies in the formulation of a Jacobian-free, gradient-free control strategy that directly solves a constrained nonlinear optimization problem at the angular level, thereby significantly improving computational efficiency and robustness compared with conventional controllers. Specifically, we propose the Beetle Antennae Olfactory Recurrent Neural Network (BAORNN) algorithm, a biologically inspired metaheuristic framework that bypasses the computationally intensive Jacobian inversion typically required in redundancy resolution. The orientation control problem is formulated as a constrained optimization task, incorporating an energy-efficient actuator usage objective and mechanical constraints modeled as inequalities. Theoretical stability and convergence guarantees are established for the proposed BAORNN framework, ensuring reliable operation across a wide range of configurations. To validate the approach, we developed a high-fidelity simulation environment using the Simscape Multibody library in Simulink and conducted extensive experiments across multiple time-varying reference trajectories. Quantitative performance comparisons against a state-of-the-art inverse kinematics controller demonstrate the superior accuracy, convergence speed, and constraint-handling capabilities of our method. Furthermore, we showcase a realistic application scenario by integrating the controller with a chair-mounted Stewart platform for immersive driving and flight simulations, demonstrating the potential for real-world deployment in motion simulation and training systems. In summary, this paper introduces a computationally lightweight, robust, and highly accurate RNN-based controller tailored for redundant Stewart platforms, with proven advantages over traditional Jacobian–based methods.

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来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
期刊介绍: The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.
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