基于改进GMRES算法的水冷壁运动机器人路径跟踪模型预测控制  

Path tracking model predictive control of water wall moving robot using modified GMRES algorithm

作　　者：黄巍 占红武[1] 胥芳[1] Huang Wei;Zhan Hongwu;Xu Fang(Key Laboratory of E&M(Zhejiang University of Technology),Ministry of Education&Zhejiang Province,Hangzhou 310023)

机构地区：[1]浙江工业大学特种装备制造与先进加工技术教育部/浙江省重点实验室,杭州310023

出　　处：《高技术通讯》2021年第10期1090-1100,共11页Chinese High Technology Letters

基　　金：国家重点研发计划(2018YFB1309404,2018YFB1309401)资助项目。

摘　　要：针对水冷壁爬壁机器人(WWCB)路径跟踪问题,提出一种快速非线性模型预测控制(NMPC)算法。定义WWCB与虚拟目标的跟踪误差,将跟踪问题转化为Bolza形式的NMPC最优控制问题。通过引入半平滑函数,对不等式进行优化处理,构建最优化必要条件。基于庞特里亚金极小值原理建立广义哈密顿函数,采用连续/广义极小残量算法(C/GMRES)计算求解,并引入多重打靶法提高运算精度。同时对GMRES算法残量求取方式进行了优化以提高运行效率。对伯努利双纽线和圆形路径进行了跟踪仿真,验证了本文的跟踪控制快速算法的有效性。A fast nonlinear model predictive control(NMPC)algorithm is proposed for water wall climbing robot(WWCB)path tracking.The tracking error between WWCB and virtual target is defined,and the tracking problem is transformed into Bolza form of NMPC optimal control problem.The semi-smooth function is introduced to opti-mize the inequality,and the necessary conditions for optimization are constructed.Based on Pontriagin’s minimum principle,the generalized Hamiltonian function is established,and continuous/generalized minimum residual algo-rithm(C/GMRES)is used to calculate the solution,as well as to improve the calculation accuracy,the multiple shooting method is introduced.At the same time,GMRES algorithm is optimized to improve the operating efficien-cy.The tracking simulation of Bernoulli double-wire and circular path is carried out to verify the effectiveness of the proposed tracking control algorithm.

关 键 词：水冷壁爬壁机器人(WWCB) 非线性模型预测控制(NMPC) 半平滑函数 连续/广义极小残量算法(C/GMRES) 多重打靶法 路径跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]