基于数值变分计算的Acrobot机器臂能量最优控制  

Energy optimal control for Acrobot with anipulators based on numerical calculus of variations

作　　者：李江成 詹清华 区国洪 何俊[2] LI Jiang-cheng;ZHAN Qing-hua;OU Guo-hong;HE Jun(Guangdong Raising Power Technology Co.Ltd.,Foshan 528200,China;School of Mechatronic Engineering and Automation,Foshan University,Foshan 528225,China)

机构地区：[1]广东省立胜技术有限公司,广东佛山528200 [2]佛山科学技术学院机电工程与自动化学院,广东佛山528225

出　　处：《佛山科学技术学院学报（自然科学版）》2021年第3期7-10,共4页Journal of Foshan University(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61803087)。

摘　　要：针对最小能量控制中初始参数难以确定的问题,利用欧拉-拉格朗日乘子处理系统约束而获得积分形式的变分方程,通过离散化变分方程,得到系统最优控制的必要条件,并选定合适的积分方法,求解非线性方程而得到系统最优控制解。仿真实验表明,该方法求解变分方程是可行的。Aiming at the problem that the initial parameters are difficult to determine in the minimum energy control,the Euler Lagrange multiplier is used to deal with the system constraints to obtain the integral form of the variational equation.By discretizing the variational equation,the necessary conditions for the optimal control of the system are obtained,and the appropriate integration method is selected to solve the nonlinear equation to obtain the optimal control solution of the system.The simulation results show that the method is feasible.

关 键 词：欠驱动机器臂 ACROBOT 能量最优控制 非完整约束 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]