Research on Articulated Robot Control Based on High-order Internal Model Iterative Learning

Zhou Qinyuan; Hu Xianzhe

doi:10.16578/j.issn.1004.2539.2024.01.004

您当前的位置：

首页 >

文章列表页 >

Research on Articulated Robot Control Based on High-order Internal Model Iterative Learning

Theory·Research | 更新时间：2024-12-13

- Research on Articulated Robot Control Based on High-order Internal Model Iterative Learning
- Journal of Mechanical Transmission Vol. 48, Issue 1, Pages: 20-27(2024)
- 作者机构：
  
  中南林业科技大学机电工程学院，湖南长沙 410004
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.01.004
  CLC：
- Published：15 January 2024，
  
  Received：15 October 2022，
  
  Revised：25 October 2022，
- 稿件说明：
移动端阅览
周秦源,胡贤哲.基于高阶内模迭代学习的关节机器人控制研究[J].机械传动,2024,48(01):20-27.

Zhou Qinyuan,Hu Xianzhe.Research on Articulated Robot Control Based on High-order Internal Model Iterative Learning[J].Journal of Mechanical Transmission,2024,48(01):20-27.
周秦源,胡贤哲.基于高阶内模迭代学习的关节机器人控制研究[J].机械传动,2024,48(01):20-27. DOI： 10.16578/j.issn.1004.2539.2024.01.004.

Zhou Qinyuan,Hu Xianzhe.Research on Articulated Robot Control Based on High-order Internal Model Iterative Learning[J].Journal of Mechanical Transmission,2024,48(01):20-27. DOI： 10.16578/j.issn.1004.2539.2024.01.004.

摘要

为了提升关节机器人在非严格重复条件下工作过程中的跟踪精度及响应速度，设计了三关节机器人模型，进行运动学及动力学分析来验证模型结构合理。针对关节机器人系统非重复性、非线性的特点，提出将高阶内模迭代学习控制算法应用于关节机器人系统控制中，设计合理的学习增益及更高的内模阶数，从理论上严格证明其收敛性。设计了仿真对比实验及加入扰动后的轨迹跟踪实验，结果表明，高阶内模迭代学习算法收敛速度更快并且具有良好的控制效果。

Abstract

In order to improve the tracking accuracy and response speed of the articulated robot in the working process under non-strict repetitive conditions

a three-joint articulated robot model is designed

and the kinematics and dynamics analysis are carried out to verify the reasonable structure of the model. In view of the non-repetitive and nonlinear characteristics of the articulated robot system

it is proposed that a high-order internal model iterative learning control algorithm can be applied to the control of the articulated robot system. A reasonable learning gain and a higher internal model order are designed to strictly prove its convergence in theory. The simulation contrast experiment and the trajectory tracking experiment after adding the disturbance are designed. The results show that the high-order internal model iterative learning algorithm converges faster and has good control effect.

关键词

关节机器人高阶内模迭代学习控制轨迹跟踪

Keywords

Articulated robotHigh-order internal modelIterative learning controlTrajectory tracking

references

刘宜成，熊宇航，杨海鑫.基于RBF神经网络的多关节机器人固定时间滑模控制［J］.控制与决策，2022，37（11）：2790-2798.

LIU Yicheng，XIONG Yuhang，YANG Haixin.Fixed time sliding mode control of joint robot based on RBF neural network［J］.Control and Decision，2022，37（11）：2790-2798.

马莉丽，钟斌.基于模型分块逼近的三关节机器人鲁棒滑模控制［J］.西安理工大学学报，2016，32（4）：437-442.

MA Lili，ZHONG Bin.Robust sliding mode control of three joint robot based on model block approximation［J］.Journal of Xi'an University of Technology，2016，32（4）：437-442.

刘金琨.机器人控制系统的设计与MATLAB仿真［M］.北京：清华大学出版社，2008：14-20.

LIU Jinkun.Design and MATLAB simulation of robot control system［M］.Beijing：Tsinghua University Press，2008：14-20.

田慧慧，苏玉鑫.机器人系统输出反馈重复学习轨迹跟踪控制［J］.控制与决策，2012，27（11）：1756-1760.

TIAN Huihui，SU Yuxin.Robot system output feedback repetitive learning track tracking control［J］.Control and Decision，2012，27（11）：1756-1760.

朱雪枫，王建辉，方晓柯，等.非线性迭代学习算法在机器人上肢康复中的应用［J］.控制与决策，2016，31（7）：1325-1329.

ZHU Xuefeng，WANG Jianhui，FANG Xiaoke，et al.Application of nonlinear iterative learning algorithm in upper limb rehabilitation of robots［J］.Control and Decision，2016，31（7）：1325-1329.

ARIMOTO S，KAWAMURA S，MIYAZAKI F.Bettering operation of robotics by learning［J］.Journal of Robotic System，1984，1（2）：123-140.

张国山，李思祺.一种基于高阶内模的新型自适应迭代学习算法［J］.天津大学学报（自然科学与工程技术版），2022，55（5）：480-488.

ZHANG Guoshan，LI Siqi.New adaptive iterative learning algorithm based on a high-order internal model［J］.Journal of Tianjin University（Science and Technology），2022，55（5）：480-488.

HUANG D Q，LI X，HE W，et al.Iterative learning control for boundary tracking of uncertain nonlinear wave equations［J］.Journal of the Franklin Institute，2018，355（17）：8441-8461．

殷辰堃，许建新，侯忠生.对一类非严格重复系统的两种基于二阶内模的迭代学习控制器设计［J］.北京交通大学学报，2010，34（5）：105-110.

YIN Chenkun，XU Jianxin，HOU Zhongsheng.Design of two iterative learning controllers based on second-order internal model for a class of non strict repetitive systems［J］.Journal of Beijing Jiaotong University，2010，34（5）：105-110.

XU J X.Direct learning of control efforts for trajectories with different magnitude scales［J］.Automatica，1997，33（12）：2191-2195.

周伟，刘保彬.一类复杂非线性系统的迭代学习控制算法［J］.控制工程，2021，28（5）：877-884.

ZHOU Wei，LIU Baobin.Iterative learning control algorithm for a class of complex nonlinear systems［J］.Control Engineering of China，2021，28（5）：877-884.

LIU B B，ZHOU W.Projection algorithm based adaptive iterative learning control for a class of discrete-time systems［C］//Chinese Control and Decision Conference.IEEE，2015：2993-2998.

MOORE K L，CHEN Y Q，AHN H S.Iterative learning control：a tutorial and big picture view［J］.Proceedings of the IEEE Conference on Decision and Control，2006：2352-2357.

LIU C P，XU J X，WU J.On iterative learning control with high-order internal models［J］.International Journal of Adaptive Control and Signal Processing，2010，24（9）：731-742.

YIN C K，XU J X，HOU Z S.A high-order internal model based iterative learning control scheme for nonlinear systems with time-iteration-varying parameters［J］.IEEE Transactions on Automatic Control，2010，55（11）：2665-2670.

殷辰堃.基于高阶内模的迭代学习控制及应用［D］.北京：北京交通大学，2011：24-30.

YIN Chenkun.Iterative learning control and application based on high-order internal model［D］.Beijing：Beijing Jiaotong University，2011：24-30.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Dynamics Modeling and Trajectory Tracking Control of the Mine Rescue Robot with a Variable Structure

Design and Motion Control of a Novel Weak-coupling Parallel Hip-joint Rehabilitation Mechanism

Trajectory Tracking Control of Mecanum Wheels Mobile Platform Based on MPC

Neural Sliding Mode Adaptive PD Tracking Control of Omnidirectional Mobile Robots

Research on Design and Motion Control of Pure Rolling Wheel Mobile Robots

Related Author

Wang Ao

Lu Maolin

Tian Haibo

Liu Fucai

Xu Jilong

Xing Jiyuan

Yang Qiwei

Wang Yiting

Related Institution

College of Mechanical Engineering, Xi'an University of Science and Technology, Xi´an

Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University

School of Automation and Electrical Engineering, Zhejiang University of Science and Technology

Key Institute of Robotics of Zhejiang Province

School of Electrical Engineering and Automation, Anhui University

⁰