对于模块化机器人操纵器的非零和微分游戏的障碍-关键-干扰近似最佳控制
Bo Dong1, Xinye Zhu1, Tianjiao An1
1Department of Control Science and Engineering, Changchun University of Technology, Changchun, 130012, Jilin, China.
概括
本研究介绍了模块化机器人操纵器 (MRM) 的安全控制方法,使用控制障碍函数 (CBF) 和非零和 (NZS) 差分游戏来处理不确定的干扰并确保系统安全.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制理论 控制理论
- 人工智能的人工智能
背景情况:
- 模块化机器人操纵器 (MRM) 在安全控制方面面临挑战,原因是不确定的干扰和相互连接的动态合 (IDC).
- 现有的控制方法可能无法充分解决复杂机器人系统中的安全限制和最佳性能.
研究的目的:
- 为MRM提出一个近似的最佳控制方案,在不确定的干扰下保证系统安全.
- 将最佳跟踪控制问题重新制定为多关节子系统的非零和 (NZS) 微分游戏.
- 确保系统状态保持在安全区域内,同时实现最佳跟踪.
主要方法:
- 控制障碍函数 (CBF) 与成本函数的集成,以在安全边界内保持系统状态.
- 重构MRM控制问题作为一个涉及多个联合子系统的NZS差异游戏.
- 适应性动态编程 (ADP) 与关键神经网络 (NN) 的应用,通过解决汉密尔顿-雅各比 (HJ) 方程来推导近似的最佳控制策略.
主要成果:
- 拟议的方法确保MRM系统的状态保持在安全区域内,防止偏差.
- NZS游戏方法有助于在MRM的子系统之间实现纳什平衡.
- 利亚普诺夫理论证实,追踪误差是统一的最终边界 (UUB),证明了控制稳定性.
结论:
- 开发的控制策略有效地解决了在不确定的干扰下对MRM系统的安全和近似最佳控制.
- 结合CBF和NZS差异游戏,为安全和最佳的机器人控制提供了一个强大的框架.
- 模拟和实验验证了拟议方法的有效性和优越性,而不是现有的方法.
相关概念视频
01:07Time-Domain Interpretation of PD Control
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Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
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01:24Pole and System Stability
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The transfer function is a fundamental concept representing the ratio of two polynomials. The numerator and denominator encapsulate the system's dynamics. The zeros and poles of this transfer function are critical in determining the system's behavior and stability.
Simple poles are unique roots of the denominator polynomial. Each simple pole corresponds to a distinct solution to the system's characteristic equation, typically resulting in exponential decay terms in the system's...
Simple poles are unique roots of the denominator polynomial. Each simple pole corresponds to a distinct solution to the system's characteristic equation, typically resulting in exponential decay terms in the system's...
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01:26PD Controller: Design
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In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
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01:26Feedback control systems
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Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
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01:22Controller Configurations
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Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
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01:21Control System Problem
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In an open-loop system, such as a basic thermostat, the poles of the transfer function influence the system's response but do not determine its stability. However, when feedback is introduced to form a closed-loop system, such as an advanced thermostat that adjusts heating based on room temperature, stability is governed by the new poles of the closed-loop transfer function.
When forming a closed-loop system, issues can arise if the poles cross into the unstable region, leading to potential...
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