基于运动规划的多欠驱动机器人有限时间控制  

Finite Time Control of Multiple Underactuated Robots Based on Motion Planning

作　　者：黄自鑫 曾霸 危少奇 魏子昂 HUANG Zixin;ZENG Ba;WEI Shaoqi;WEI Ziang(School of Electrical and Information Engineering,Wuhan Institute of Technology,Wuhan Hubei 430205;Hubei Key Laboratory of Intelligent Robot,Wuhan Institute of Technology,Wuhan Hubei 430205;Hubei Key Laboratory of Digital Textile Equipment,Wuhan Textile University,Wuhan Hubei 430200)

机构地区：[1]武汉工程大学电气信息学院,湖北武汉430205 [2]武汉工程大学智能机器人湖北省重点实验室,湖北武汉430205 [3]武汉纺织大学湖北省数字化纺织装备重点实验室,湖北武汉430200

出　　处：《湖北理工学院学报》2024年第5期1-6,88,共7页Journal of Hubei Polytechnic University

基　　金：湖北省自然科学基金项目(项目编号:2023AFB380);智能机器人湖北省重点实验室创新基金项目(项目编号:HBIRL202301,HBIRL202302);湖北省数字化纺织装备重点实验室开放课题(项目编号:KDTL2022003);武汉工程大学研究生教育创新基金项目(项目编号:CX2023565,CX2023566,CX2023578)。

摘　　要：针对多欠驱动机器人,提出了一种基于运动规划的有限时间控制策略,使系统在有限时间内稳定到给定的目标状态。首先,对多欠驱动机器人中的单个机器人建立统一的动力学模型,并进行运动特性分析。其次,针对机器人中的驱动连杆设计一条带有可调参数的运动轨迹,并利用差分进化算法计算合适的轨迹参数,使多欠驱动机器人从不同的初始状态在有限时间内到达相同的目标状态,并针对驱动连杆设计控制器跟踪规划的运动轨迹,使驱动连杆到达目标状态的同时连带欠驱动连杆到达目标状态。最后,进行仿真实验,验证了控制策略的有效性和可行性。A finite time control strategy based on motion planning is proposed for multiple underactuated robots to stabilize the system for achieving a given target state in a finite time.Firstly,a unified dynamic is built for a single robot in multiple underactuated robots,and the motion characteristics are analyzed.Secondly,a trajectory with adjustable parameters is designed for the active links,and the suitable parameters of the trajectory are calculated by differential evolution algorithm,so that multiple robots can effectively reach the same target state from different initial states in a finite time.The controllers are designed for the active links to track the planned motion trajectory to achieve the target states.Meanwhile,the underactuated link will be indirectly controlled to reach the target states.Finally,the effectiveness and feasibility of the control strategy are verified by simulation.

关 键 词：非线性系统 多欠驱动机器人 运动规划 有限时间控制 差分进化算法 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]