Nonlinear optimal control for a 4-DOF SCARA robotic manipulator
| Autor: | G. Rigatos, M. Abbaszadeh, K. Busawon, J. Pomares |
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| Přispěvatelé: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal, Human Robotics (HURO) |
| Jazyk: | angličtina |
| Rok vydání: | 2023 |
| Předmět: |
Control and Optimization
Flatness-based control in successive loops General Mathematics Mechanical Engineering Global stability Nonlinear H-infinity control Differential flatness properties Taylor series expansion Computer Science Applications Riccati equation Control and Systems Engineering Modeling and Simulation Jacobian matrices Software 4-DOF SCARA robotic manipulator Industrial robots |
| Popis: | Selective compliance articulated robot arms (SCARA) robotic manipulators find wide use in industry. A nonlinear optimal control approach is proposed for the dynamic model of the 4-degrees of freedom (DOF) SCARA robotic manipulator. The dynamic model of the SCARA robot undergoes approximate linearization around a temporary operating point that is recomputed at each time-step of the control method. The linearization relies on Taylor series expansion and on the associated Jacobian matrices. For the linearized state-space model of the system, a stabilizing optimal (H-infinity) feedback controller is designed. To compute the controller’s feedback gains, an algebraic Riccati equation is repetitively solved at each iteration of the control algorithm. The stability properties of the control method are proven through Lyapunov analysis. The proposed control method is advantageous because: (i) unlike the popular computed torque method for robotic manipulators, it is characterized by optimality and is also applicable when the number of control inputs is not equal to the robot’s number of DOFs and (ii) it achieves fast and accurate tracking of reference setpoints under minimal energy consumption by the robot’s actuators. The nonlinear optimal controller for the 4-DOF SCARA robot is finally compared against a flatness-based controller implemented in successive loops. This research work has been partially supported by Research Grant Ref. 3671/ "Control and estimation of nonlinear and PDE dynamical systems" of the Unit of Industrial automation of the Industrial Systems Institute. |
| Databáze: | OpenAIRE |
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