ロボットマニピュレーターシステムの最適な軌道の追跡,離散時間高速端末スライディングモードの予測アプローチ
Bin Guo1, Jiawei Feng1, Yuzhong Zhong1
1College of Electrical Engineering, Sichuan University, Chengdu, 610065, China.
ISA transactions
|September 4, 2025
まとめ
この研究は,障害に直面するロボットの操作のための新しい観察者ベースの制御戦略を提示します. この方法は軌道追跡を強化し,シミュレーションと実験によって検証されたシステムの安定性を保証します.
科学分野:
- ロボット
- 制御システム工学
- 応用数学
背景:
- ロボット操作機は 工業用途の正確な軌跡を追跡する必要があります
- 外部負荷の干渉と未知の摩擦トークンは制御性能を低下させる.
- 既存の制御方法は 複雑で現実的な動的不確実性で 苦戦しています
研究 の 目的:
- 外部からの干渉下でのロボット操作のための高度な制御戦略を開発する.
- 軌道追跡の精度と強さを向上させるため
- 固定不確実性の処理における現在の制御アプローチの限界に対処する.
主な方法:
- 単一干渉を推定するための新しい離散時間延長状態オブザーバーの設計.
- 高速端滑りモードの予測最適制御 (FTSMPC) 戦略の開発
- 予測可能な入力トルクコントローラを統合して,到達段階とスムーズなトルク出力を最適化します.
主要な成果:
- 拡張状態のオブザーバーは,理論的分析によって観測エラーの境界性を保証します.
- 提案されたFTSMPC戦略は軌道追跡の性能を大幅に改善します.
- よりスムーズな入力トルクプロファイルが達成され,システムの磨きが軽減され,効率が向上します.
結論:
- 観察者ベースのFTSMPC戦略は,障害のあるロボットの操作に優れた制御性能を提供します.
- この方法は,シミュレーションと実験の検証の両方で,堅実性と有効性を示しています.
- このアプローチは不確実な環境における ロボットによる正確な制御のための 信頼性の高いソリューションを提供します
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