基于反馈线性化的广义预测控制机械臂轨迹跟踪算法

A trajectory tracking algorithm of generalized predictive control manipulator based on feedback linearization

分析了机械臂轨迹跟踪控制问题的特点,建立了二自由度机械臂动力学模型。为解决广义预测控制(generalized predictive control,GPC)算法难以适用于非线性系统的问题,在现有的GPC算法基础上,设计了基于反馈线性化的广义预测控制(feedback linearization-generalized predictive control,FL-GPC)算法框架,即底层为线性系统预测控制,非线性项使用预估值来进行代替,高层为迭代修正预估量,使用迭代计算的方式对非线性项进行预估。使用FL-GPC算法对二自由度机械臂的静态、动态轨迹跟踪任务进行了仿真。仿真结果表明,算法可以进行有效的机械臂轨迹跟踪控制。

This paper analyzes the characteristics of the trajectory tracking control problem of the manipulator and establishes a two-degree-of-freedom manipulator dynamic model.In order to solve the problem that generalized predictive control(GPC)algorithm is difficult to apply to nonlinear systems,a feedback linearization-based generalized predictive control(FL-GPC)algorithm framework is designed.The bottom layer of the algorithm is the linear system predictive control and the non-linear term is replaced by the estimated value.The upper level is iteratively revised estimates and the non-linear term is estimated using the iterative calculation method.Finally,the FL-GPC algorithm is used to simulate the static and dynamic trajectory tracking tasks of a two-degree-of-freedom manipulator.Simulation results show that the algorithm can perform effective manipulator trajectory tracking control.