Back to Search Start Over

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

Authors :
SHI Guoqing
CHENG Jiayi
ZHANG Jiandong
YANG Qiming
WU Yong
WU Fan
Source :
Xibei Gongye Daxue Xuebao, Vol 42, Iss 2, Pp 368-376 (2024)
Publication Year :
2024
Publisher :
EDP Sciences, 2024.

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.

Details

Language :
Chinese
ISSN :
10002758 and 26097125
Volume :
42
Issue :
2
Database :
Directory of Open Access Journals
Journal :
Xibei Gongye Daxue Xuebao
Publication Type :
Academic Journal
Accession number :
edsdoj.9f74889ef39e427bb288b332f2698e98
Document Type :
article
Full Text :
https://doi.org/10.1051/jnwpu/20244220368