Robot trajectory tracking optimal control method based on an event trigger mechanism
An event-triggered, optimal control technology, applied in adaptive control, general control systems, control/regulation systems, etc., can solve the problem of not considering the optimal path of robot trajectory tracking, high computational complexity, and not considering optimal trajectory tracking. Path and other issues, to achieve the effect of improving network bandwidth utilization, reducing unnecessary waste, and improving trajectory tracking accuracy
Inactive Publication Date: 2021-07-09
ANHUI UNIVERSITY
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Problems solved by technology
[0010] 1) The optimal path of robot trajectory tracking is not considered.
[0011] 2) No consideration is given to reducing the communication loss of the robot tracking system
[0017] 1) The trajectory tracking kinematics model of the inspection robot is particularly complex, and the calculation complexity is high;
[0018] 2) No consideration is given to reducing the communication loss of the trajectory tracking system of the inspection robot;
[0019] 3) The optimal trajectory tracking path is not considered
[0025] 1) No consideration is given to reducing the communication loss of the robot tracking system;
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[0117] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are part of the present invention Examples, not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0118] like image 3 and Figure 4 As shown, the present invention discloses an optimal control method for robot trajectory tracking based on an event-triggered mechanism, the method comprising:
[0119]Step 1: Combining with the optimal control theory, consider the modeling and analysis of the robot tracking system under the event-triggered mechanism. By defining the trajector...
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The invention discloses a robot trajectory tracking optimal control method based on an event trigger mechanism, and the method comprises the steps: defining a trajectory error of a reference robot and a tracking robot as a robot system error state in combination with an optimal control theory, and enabling the system error state to be zero; solving an optimal tracking trajectory of the robot through an action-evaluation network framework, approaching a cost function of a nonlinear system by using an evaluation network, and estimating an optimal control law by using an action network; by adopting an event triggering method, transmitting a control signal in a non-periodic mode, and two neural networks, namely an evaluation network and an action network, only update own weights at an update moment determined by an event triggering condition; and defining a Lyapunov function, designing event triggering conditions based on the function, and guaranteeing that the error state of the robot tracking system is converged to zero by means of the optimal control theory. According to the method, the optimal trajectory can be conveniently solved, the communication loss in the robot tracking system is greatly reduced, and the unnecessary waste of system resources is reduced.
Description
technical field [0001] The invention relates to the field of event triggering and optimal control of a robot tracking system, in particular to a method for controlling non-complete robot trajectory tracking based on the combination of event triggering and optimal control. Background technique [0002] In recent years, nonholonomic robots have received more and more attention from the control community. A nonholonomic robot is a robot whose motion constraints are expressed by non-integrable differential equations. The design and control of nonholonomic robots involves the synthesis of robotics, analytical mechanics, nonlinear control theory and other disciplines. The traditional nonholonomic mobile robot tracking control methods mainly include Taylor linearization or dynamic feedback linearization based on the tracking error model to obtain local tracking results. Recently, optimal control has been widely used in fields such as aerospace, robotics, and aircraft. With the d...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 程松松方笑晗潘天红樊渊陈烁
Owner ANHUI UNIVERSITY