Optimal trajectory control for a two‐link rigid‐flexible manipulator with ODE‐PDE model

Cao Fangfei; Liu Jinkun

摘要

Summary >In this paper, the optimal trajectory control problem for a two‐link rigid‐flexible manipulator is considered. Since the two‐link rigid‐flexible system is a distributed system, an ordinary differential equation and partial differential equation (ODE‐PDE) dynamic model of the manipulator is established by Hamilton's principle. Based on the ODE‐PDE model, an optimal trajectory controller is proposed in this paper, which includes 2 stages. In the first stage, the optimal trajectory is created by using the differential evolution algorithm. Energy consumption and deflection of the flexible link are chosen as performance indexes. Cubic spline interpolation is applied to obtain the continuous trajectory. In the second stage, the aim is to regulate 2 joints to follow the optimal trajectory and simultaneously suppress vibration of the flexible link. To achieve it, boundary control laws are designed and the stability analysis is given. In simulations, the effectiveness of the optimal controller is verified by MATLAB. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><Abstract XMLNS =“http://www.wiley.com/namespaces/wiley”type =“main”xml：lang =“en”xml：id =“oca2423-abs-abs-0001”> <标题类型=“main”>摘要</ title> 在本文中，考虑了双连杆刚性柔性机械手的最佳轨迹控制问题。由于双连杆刚性柔性系统是分布式系统，因此汉密尔顿原则建立了机械手的常微分方程和部分微分方程（ODE-PDE）动态模型。基于ODE-PDE模型，本文提出了一种最佳轨迹控制器，包括2个阶段。在第一阶段，通过使用差分演进算法来创建最佳轨迹。选择灵活链接的能量消耗和偏转作为性能指标。将立方样条插值应用于获得连续轨迹。在第二阶段，目的是调节2个关节以遵循最佳轨迹并同时抑制柔性环节的振动。为了实现它，设计了边界控制规律，并给出了稳定性分析。在仿真中，Matlab验证了最佳控制器的有效性。</ p> </摘要> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-27675/'>《Optimal Control Applications and Methods》</a> <b style="margin: 0 2px;">|</b><span>2018年第4期</span><b style="margin: 0 2px;">|</b><span>共15页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Cao Fangfei&option=202" target="_blank" rel="nofollow">Cao Fangfei;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Liu Jinkun&option=202" target="_blank" rel="nofollow">Liu Jinkun;</a> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> <p>School of Automation Science and Electrical EngineeringBeihang UniversityBeijing China;</p> <p>School of Automation Science and Electrical EngineeringBeihang UniversityBeijing China;</p> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/1147.html" title="应用数学">应用数学;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=ODE‐PDE model&option=203" rel="nofollow">ODE‐PDE model;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=optimal trajectory control&option=203" rel="nofollow">optimal trajectory control;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=two‐link rigid‐flexible manipulator&option=203" rel="nofollow">two‐link rigid‐flexible manipulator;</a> </p> <div class="translation"> 机译：ODE-PDE模型;最佳轨迹控制;双连杆刚性柔性机械手; 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