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首页> 外文期刊>International Journal of Control, Automation and Systems >A predictive controller based on dynamic matrix control for a non-minimum phase robot manipulator
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A predictive controller based on dynamic matrix control for a non-minimum phase robot manipulator

机译：基于非最小相位机器人的基于动态矩阵控制的预测控制器

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摘要

In this paper a hybrid control strategy is presented based on Dynamic Matrix Control (DMC) and feedback linearization methods for designing a predictive controller of five bar linkage manipulator as a MIMO system (two inputs and two outputs). Analyzing the internal dynamic of robot shows the open loop system is unstable and non-minimum phase, so in order to apply the predictive controller, special modifications are needed. These modifications on non-minimum phase behavior are performed using feedback linearization procedure based on state space realization. The design objective is to track a desirable set point as well as time varying trajectories as a command references with globally asymptotical stabilization. The proposed controller is applied to nonlinear fully coupled model of the typical five bar linkage manipulator with non-minimum phase behavior. Simulation results show that the proposed controller has good efficiency. The step responses of system with and without feedback linearization process illustrated that the mentioned modification for stabilizing is performed properly. After applying the proposed predictive controller, the joint angle of robot tracks the reference input while another input acts as the disturbance and vice versa.
机译：本文提出了一种基于动态矩阵控制（DMC）和反馈线性化方法的混合控制策略，用于将五连杆机械手的预测控制器设计为MIMO系统（两个输入和两个输出）。分析机器人的内部动力学表明，开环系统是不稳定且非最小相位的，因此为了应用预测控制器，需要进行特殊修改。使用基于状态空间实现的反馈线性化过程对非最小相位行为进行了这些修改。设计目标是跟踪期望的设定点以及随时间变化的轨迹，作为具有全局渐近稳定性的命令参考。该控制器被应用于具有非最小相位特性的典型五连杆机构的非线性全耦合模型。仿真结果表明，该控制器具有良好的效率。具有和不具有反馈线性化过程的系统的阶跃响应说明，所提及的稳定化修改已正确执行。应用建议的预测控制器后，机器人的关节角度将跟踪参考输入，而另一个输入则充当干扰，反之亦然。

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