Hybrid Nonlinear Model Predictive Motion Control of a Heavy-duty Bionic Caterpillar-like Robot  

作　　者：Dongyi Li Kun Lu Yong Cheng Huapeng Wu Heikki Handroos Songzhu Yang Yu Zhang Hongtao Pan 

机构地区：[1]Institute of Plasma Physics,Hefei Institutes of Physical Science,Chinese Academy of Sciences,Hefei,230031,China [2]Science Island Branch of Graduate School,University of Science and Technology of China,Hefei,230026,China [3]School of Energy Systems,LUT University,53850,Lappeenranta,Finland [4]Anhui Extreme Environment Robot Engineering Laboratory,Hefei,230031,China

出　　处：《Journal of Bionic Engineering》2024年第5期2232-2246,共15页仿生工程学报(英文版)

基　　金：supported by Comprehensive Research Facility for Fusion Technology Program of China under Contract No.2018-000052-73-01-001228;the China Scholarship Council with No.202206340050;National Natural Science Foundation of China with Grant No.11905147.

摘　　要：This paper investigates the motion control of the heavy-duty Bionic Caterpillar-like Robot(BCR)for the maintenance of the China Fusion Engineering Test Reactor(CFETR).Initially,a comprehensive nonlinear mathematical model for the BCR system is formulated using a physics-based approach.The nonlinear components of the model are compensated through nonlinear feedback linearization.Subsequently,a fuzzy-based regulator is employed to enhance the receding horizon opti-mization process for achieving optimal results.A Deep Neural Network(DNN)is trained to address disturbances.Conse-quently,a novel hybrid controller incorporating Nonlinear Model Predictive Control(NMPC),the Fuzzy Regulator(FR),and Deep Neural Network Feedforward(DNNF),named NMPC-FRDNNF is developed.Finally,the efficacy of the control system is validated through simulations and experiments.The results indicate that the Root Mean Square Error(RMSE)of the controller with FR and DNNF decreases by 33.2 and 48.9%,respectively,compared to the controller without these enhancements.This research provides a theoretical foundation and practical insights for ensuring the future highly stable,safe,and efficient maintenance of blankets.

关 键 词：Nonlinear model predictive control Fuzzy regulator Deep neural network feedforward Heavy-duty bionic caterpillar-like robot 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]