基于自适应动态规划的移动装弹机械臂轨迹控制  

Adaptive dynamic programming based trajectory tracking control of mobile missile-loading manipulator

作　　者：唐志国[1] 张富尧 马彦[1] TANG Zhi-guo;ZHANG Fu-yao;MA Yan(College of Communication Engineering,Jilin University,Changchun Jilin 130022,China;College of Mechanical and Aerospace Engineering,Jilin University,Changchun Jilin 130022 China)

机构地区：[1]吉林大学通信工程学院,吉林长春130022 [2]吉林大学机械与航天工程学院,吉林长春130022

出　　处：《控制理论与应用》2021年第9期1442-1451,共10页Control Theory & Applications

基　　金：省校共建项目(SXGJSF2017-2-1-1);吉林省科技发展计划项目(20170520060JH);吉林省产业创新专项基金项目(2018C035-2)资助.

摘　　要：针对移动装弹机械臂系统非线性、强耦合、受多种不确定因素影响的问题,本文基于自适应动态规划方法,提出了仅包含评价网络结构的轨迹跟踪控制方法,有效减小了系统跟踪误差.首先,考虑到系统非线性特性、变量间强耦合作用及重力因素的影响,通过拉格朗日方程建立了移动装弹机械臂的动力学模型.其次,针对系统存在不确定性上界未知的问题,建立单网络评价结构,通过策略迭代算法,求解哈密顿–雅可比–贝尔曼方程,基于李雅普诺夫稳定性理论,设计了自适应动态规划轨迹跟踪控制方法.最后,通过仿真实验将该控制方法与自适应滑模控制方法进行了对比,进一步检验了所设计控制方法的有效性.In this paper,the trajectory tracking control with critic-only structure is studied to reduce tracking error based on adaptive dynamic programming in the mobile missile-loading manipulator system,when there are nonlinear,strong coupling and many kinds of uncertainties.Firstly,a dynamic model using Lagrange equation is established for the mobile missile-loading manipulator while all of the above impacts,besides gravity of manipulator are simultaneously considered.Furthermore,in the case of unknown upper bound uncertainty in the system,an adaptive dynamic programming trajectory tracking controller is presented to improve the control precision.According to neural network algorithm,critic-only policy iteration algorithm for mobile missile-loading manipulator is proposed.Using the policy iteration method can solve the HJB equation and approximate the optimal control strategy.And then the asymptotic stability of closed-loop system is proved by Lyapunov stability theory.Finally,the effectiveness of the designed control method is further verified by simulation,compared with the adaptive sliding mode controller.

关 键 词：移动机械臂 自适应动态规划 轨迹控制 拉格朗日方程 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程] TP241[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]