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首页> 外文会议>Mediterranean Conference on Control and Automation >Periodic Motion Optimization for an Underactuated Mechanical System through Synergistic Structure-Control Design
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Periodic Motion Optimization for an Underactuated Mechanical System through Synergistic Structure-Control Design

机译：通过协同结构控制设计对废除机械系统的周期性运动优化

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In this work, we present the integrated structure-control design of a 2-DOF underactuated mechanical system, aiming to achieve a periodic motion of the end-effector. The desired behavior is generated via input-output feedback linearization, followed by structural optimization of the zero dynamics. Inspired by recent works on the control-oriented design of multibody systems, we define a simulation-based optimization problem where the response of the mechanism is shaped through relevant structural parameters. In particular, adjusting the stiffness and the mass distribution of the system, we match the periodic reference with a specific orbit of the zero dynamics, while also penalizing the linearizing input. With the adoption of the proposed strategy, we show that it is possible to reach a desirable trade-off between input energy reduction and periodic motion accuracy. Once an optimal trajectory of the zero dynamics is found, the control design is completed with established orbital stabilization techniques, ensuring a robust oscillatory behavior.
机译：在这项工作中，我们展示了二进制欠置机械系统的综合结构控制设计，旨在实现最终效应器的周期性运动。通过输入输出反馈线性化产生所需的行为，然后通过零动态的结构优化。灵感来自最近的作品对多体系统的控制定向设计，我们定义了一种基于仿真的优化问题，其中机制的响应是通过相关的结构参数而成的。特别地，调整系统的刚度和质量分布，我们将定期参考与零动态的特定轨道相匹配，同时也惩罚线性化输入。通过采用拟议的策略，我们表明，在输入能量减少和周期性运动准确度之间可以达到理想的权衡。一旦找到零动态的最佳轨迹，控制设计就具有建立的轨道稳定技术，确保了稳健的振荡行为。

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