基于观察者的差异进化受制控制,用于机器人安全的参考追踪
José de Jesús Rubio1, Eduardo Orozco1, Daniel Andres Cordova1
1Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de las Granjas no. 682, Col. Santa Catarina, Ciudad de México, 02250, Mexico.
概括
本研究引入了机器人的受约束控制和观察器,通过控制扭矩和估计扰动来确保机器人的安全运行. 差异进化方法优化控制收益,以实现平衡的性能和能源效率.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 优化算法 优化算法
背景情况:
- 机器人控制器中的高扭矩输入可以导致能源消耗增加.
- 观察者对干扰的不准确估计可能会对机器人设备造成损害.
- 安全的参考跟踪和扰动估计对于机器人系统可靠性至关重要.
研究的目的:
- 为机器人安全的参考追踪提出一个受约束的控制方法.
- 为了在机器人系统中安全估计干扰,开发一个受约束的观察者.
- 引入一种优化控制收益的方法,以平衡安全和能源效率.
主要方法:
- 建议采用基于观察者的差异进化受限控制方法.
- 一个受约束的观察者是为了安全地估计干扰而设计的.
- 为了安全的参考追踪,实施了一个受约束的控制策略.
- 差异进化被用来确定最佳的控制收益.
- 拟议的控制系统的稳定性在数学上得到了保证.
主要成果:
- 建议的受约束观察者有效地估计干扰,防止设备损坏.
- 约束式控制器确保了安全的参考追踪,即使有显著的外部干扰.
- 差异进化优化成功地识别了控制收益,平衡了安全跟踪和能源消耗.
- 基于观察者的差异进化受限控制表现出强大的稳定性.
- 该方法在两个不同的机器人应用中成功应用于安全的参考跟踪.
结论:
- 开发的基于观察者的差异进化受约束控制为安全和节能机器人操作提供了强大的解决方案.
- 这种方法通过防止过度扭矩和不准确估计造成的损坏,提高了机器人的安全性.
- 优化技术提供了一种系统的方式来调整控制参数,以提高现实世界机器人应用中的性能.
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