基于位置的机械臂视觉伺服预测控制  

Position-based Visual Servoing Predictive Control for Manipulators

作　　者：刘安东[1] 卢威威 俞立[1] LIU An-dong;LU Wei-wei;YU Li(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)

机构地区：[1]浙江工业大学信息工程学院,杭州310023

出　　处：《小型微型计算机系统》2022年第8期1725-1731,共7页Journal of Chinese Computer Systems

基　　金：NSFC-浙江两化融合联合基金项目(U1709213)资助;国家自然科学基金项目(61973275)资助.

摘　　要：基于位置的机械臂视觉伺服控制需要解决位姿估计和目标跟踪控制问题.为了克服机械臂运动过程中的运动空间约束,提出了基于滚动时域估计(MHE)的机械臂位姿估计方法.在位姿估计的基础上,利用对偶梯度上升方法以及拉格朗日乘子处理具有控制输入约束的优化问题,并给出了基于迭代线性二次调节(iLQR)的视觉伺服预测控制器设计方法.进一步,采用极点配置方法设计了扩张状态观测器(ESO)用于解决估计误差和线性化误差引起的扰动问题.进而,给出了保证闭环系统稳定的充分条件.最后,通过仿真对比验证了本文所提算法的有效性和优越性.The pose estimation and target tracking control are the basic problems of the position-based visual servoing control of manipulators.To overcome the motion space constraints during the motion of the manipulator,a moving horizon pose estimation method is proposed to estimate the pose of the manipulator.On the basis of pose estimation,a dual gradient ascent method and Lagrangian multiplier are used to deal with control input constraints,and a visual servo predictive controller design method based on iterative linear quadratic regulator(iLQR)is given.Furthermore,an extended state observer(ESO)is designed by using the pole placement method to solve the disturbance problem caused by the estimation error and linearization error.Furthermore,sufficient conditions are given to ensure the stability of the closed-loop system.Finally,the effectiveness and superiority of the algorithm proposed are verified by simulation.

关 键 词：机械臂视觉伺服 滚动时域估计 迭代线性二次调节 预测控制 扩张状态观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]