Non-linear optimal control for multi-DOF electro-hydraulic robotic manipulators

IET Cyber-systems and Robotics

Masoud Abbaszadeh¹  Patrice Wira²  Nikolaos Zervos³  Gerasimos Rigatos⁴  Jorge Pomares⁵ 

[1] GE Global Research, General Electric;IRIMAS, Université d’ Haute Alsace;Unit of Digital Communications, Industrial Systems Institute;Unit of Industrial Automation, Industrial Systems Institute;University of Alicante;

关键词: control system synthesis;    electrohydraulic control equipment;    linearisation techniques;    lyapunov methods;    riccati equations;    stability;    feedback;    adaptive control;    nonlinear control systems;    jacobian matrices;    manipulator dynamics;    first-order taylor series expansion;    linearisation;    jacobian matrices;    lyapunov analysis;    algebraic riccati equation;    h-infinity feedback controller stabilization;    approximate linearisation;    multidegree-of-freedom electro-hydraulic robotic manipulators;    nonlinear optimal control;    state-space model;    rotary electro-hydraulic drives;    multilink robotic manipulator;    multivariable dynamics;    dynamic model;    multidof electro-hydraulic robotic manipulators;   

DOI  :  10.1049/iet-csr.2020.0003

来源: DOAJ

【 摘 要 】

A non-linear optimal (H-infinity) control approach is proposed for the dynamic model of multi-degree-of-freedom (DOF) electro-hydraulic robotic manipulators. Control of electro-hydraulic manipulators is a non-trivial problem because of their non-linear and multi-variable dynamics. In this study, the considered robotic system consists of a multi-link robotic manipulator that receives actuation from rotary electro-hydraulic drives. The article's approach relies first on approximate linearisation of the state-space model of the electro-hydraulic manipulator, according to first-order Taylor series expansion and the computation of the related Jacobian matrices. For the approximately linearised model of the manipulator, a stabilising H-infinity feedback controller is designed. To compute the controller's gains, an algebraic Riccati equation is solved at each time-step of the control algorithm. The global stability properties of the control scheme are proven through Lyapunov analysis. The proposed control method retains the advantages of typical optimal control, i.e. fast and accurate tracking of the reference setpoints under moderate variations of the control inputs.

【 授权许可】

Unknown