使用自我调节的非线性重量调整方案来适应性最佳控制不足的机器人系统:制定和实验验证
Omer Saleem1, Mohsin Rizwan2, Jamshed Iqbal3
1Department of Electrical Engineering, National University of Computer and Emerging Sciences, Lahore, Pakistan.
PloS one
|December 8, 2023
概括
本研究介绍了一种无模型的自组织重量适应线性正方体调节器 (LQR),以改进反转的控制. 这种新的方法提高了对干扰和不确定性的稳定性,超过了传统的LQR.
科学领域:
- 机械电子和控制系统工程 机械电子和控制系统工程
- 机器人和自动化机器人与自动化
背景情况:
- 线性方位调节器 (LQR) 广泛用于控制系统,但可能对系统不确定性和外部干扰敏感.
- 倒置的摆形系统在控制方面是一个经典的挑战,因为它们固有的不稳定性和需要精确的调节.
研究的目的:
- 开发一种无模型,自我组织的重量适应策略,以提高机械机械系统的LQR控制器的稳定性.
- 改进LQR控制的反转的干扰排斥能力和能源效率.
主要方法:
- 一个在线适应法动态调整LQR状态加权因子,使用状态错误依赖的超标分离函数 (HSF).
- 自律法适应地调整HSF变化率,使用分散和抗分散的术语进行灵活的重新校准.
- 在Quanser单环旋转反向摆筒上进行的硬件在循环 (HIL) 实验验证实了拟议的控制方案.
主要成果:
- 拟议的自组织LQR (SR-EM-STC) 显示出与固定增益LQR相比的显著改进.
- 关键的性能改进包括52.2%的位置调节改进,16.4%的控制能量减少,55.2%的短暂恢复,和42.7%更少的峰值超越.
- 控制器表现出对外干扰的优越稳定性.
结论:
- 新型自组织的LQR方法有效地提高了反向摆形系统的控制稳定性和性能.
- 适应性重量调整策略提供了更大的设计灵活性和更好的干扰排斥,同时优化了能源消耗.
- 实验验证证证实了拟议方法在现实世界机械电子应用中的有效性.
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