A trajectory tracking algorithm of generalized predictive control manipulator based on feedback linearization

基于反馈线性化的广义预测控制机械臂轨迹跟踪算法

¹ School of Electronics and Information, Northwestern Polytechnical University, Xi′an 710072, China
² Chengdu Aircraft Design & Research Institute, Chengdu 610041, China

Received: 22 February 2023

Abstract

This paper analyzes the characteristics of the trajectory tracking control problem of the manipulator and establishes a two-degree-of-freedom manipulator dynamic model. In order to solve the problem that generalized predictive control(GPC) algorithm is difficult to apply to nonlinear systems, a feedback linearization-based generalized predictive control(FL-GPC) algorithm framework is designed. The bottom layer of the algorithm is the linear system predictive control and the non-linear term is replaced by the estimated value. The upper level is iteratively revised estimates and the non-linear term is estimated using the iterative calculation method. Finally, the FL-GPC algorithm is used to simulate the static and dynamic trajectory tracking tasks of a two-degree-of-freedom manipulator. Simulation results show that the algorithm can perform effective manipulator trajectory tracking control.

摘要

分析了机械臂轨迹跟踪控制问题的特点, 建立了二自由度机械臂动力学模型。为解决广义预测控制(generalized predictive control, GPC)算法难以适用于非线性系统的问题, 在现有的GPC算法基础上, 设计了基于反馈线性化的广义预测控制(feedback linearization-generalized predictive control, FL-GPC)算法框架, 即底层为线性系统预测控制, 非线性项使用预估值来进行代替, 高层为迭代修正预估量, 使用迭代计算的方式对非线性项进行预估。使用FL-GPC算法对二自由度机械臂的静态、动态轨迹跟踪任务进行了仿真。仿真结果表明, 算法可以进行有效的机械臂轨迹跟踪控制。