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