六度机械约束控制统的设-控制理论与应用.PDFVIP

31 11 Vol. 31 No. 11 2014 11 Control Theory Applications Nov. 2014 DOI: 10.7641/CTA.2014.40037 , , , (1. , 200240; 2. , 200240) : . , . , , ; , . , . , , , . , . PUMA560, . : ; ; ; ; : TP241.2 : A Design of constrained predictive control system for 6 degrees-of-freedom manipulators ZHANG Xiao-ying , LI De-wei , XI Yu-geng , CHEN Wei-dong (1. Key Laboratory for System Control and Information Processing under Ministry of Education, Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China; 2. Institute of Automation, Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China) Abstract: Based on constrained predictive control, this paper proposes a real-time motion control scheme for manipula- tors. The control scheme is composed of two layers, with constrained predictive controller in the higher layer and trajectory tracking controller in the lower one respectively. The constrained predictive controller creates a trajectory with considera- tion of the system constraints for the lower layer controller. While the trajectory tracking controller adopts an optimal state feedback law to minimize the predicted tracking error. Input-output linearization is used to simplify the dynamic model used in the model predictive control (MPC) controller design in both layers. Furthermore, a feedforward-feedback control structure is proposed where feedforward is introduced to the constrained predictive controll