Feedback linearization based predictor for time delay control of a high-DOF robot manipulator
Feedback linearization based predictor for time delay control of a high-DOF robot manipulator
复制标题
DOI：
10.1016/j.automatica.2019.06.037
复制
发表时间：
2019-10-01
期刊：
影响因子：
6.4
通讯作者：
Krstic, Miroslav
中科院分区：
文献类型：
--
作者：
Bagheri, Mostafa;Naseradinmousavi, Peiman;Krstic, Miroslav
我们为高自由度机械臂制定了基于预测器的控制器，以补偿拾放任务期间的时不变输入延迟。机器人操纵器因其可靠、快速、精确的运动而被广泛应用于远程操纵系统，但它们会受到大延迟的影响。在此类延迟系统上使用通用控制算法不仅会导致控制性能不佳，而且还会导致工程应用中灾难性的不稳定。因此，在设计鲁棒控制律时需要补偿延迟。作为案例研究，我们重点关注受三种不同输入延迟影响的 7 自由度 Baxter 机械臂。首先，利用拉格朗日法推导了Baxter机械臂的无时滞动力学方程。然后，我们在存在输入延迟的情况下制定基于预测器的控制器，以跟踪所需的轨迹。最后，研究了在没有鲁棒预测器的情况下输入延迟的影响，然后通过实验评估基于预测器的控制器的性能，以揭示所制定算法的鲁棒性。仿真和实验结果表明，基于预测器的控制器有效地补偿了输入延迟并实现了闭环稳定性。 (C) 2019 Elsevier Ltd. 保留所有权利。
We formulate a predictor-based controller for a high-DOF manipulator to compensate a time-invariant input delay during a pick-and-place task. Robot manipulators are widely used in telemanipulation systems on the account of their reliable, fast, and precise motions while they are subject to large delays. Using common control algorithms on such delay systems can cause not only poor control performance, but also catastrophic instability in engineering applications. Therefore, delays need to be compensated in designing robust control laws. As a case study, we focus on a 7-DOF Baxter manipulator subject to three different input delays. First, delay-free dynamic equations of the Baxter manipulator are derived using the Lagrangian method. Then, we formulate a predictor-based controller, in the presence of input delay, in order to track desired trajectories. Finally, the effects of input delays in the absence of a robust predictor are investigated, and then the performance of the predictor-based controller is experimentally evaluated to reveal robustness of the algorithm formulated. Simulation and experimental results demonstrate that the predictor-based controller effectively compensates input delays and achieves closed-loop stability. (C) 2019 Elsevier Ltd. All rights reserved.