Wang, Yongchao und Leibold, Marion und Lee, Jinoh und Ye, Wenyan und Xie, Jing und Buss, Martin (2022) Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator. IEEE Transactions on Control Systems Technology, 30 (6), Seiten 2285-2300. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TCST.2022.3142629. ISSN 1063-6536.
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Offizielle URL: https://ieeexplore.ieee.org/document/9701836
Kurzfassung
This article proposes a new incremental model predictive control (IMPC) strategy, which allows for constrained control of a robot manipulator, while the resulting incremental model is derived without a concrete mathematical system model. First, to reduce dependence on the nominal model of robot manipulators, the continuous-time nonlinear system model is approximated by an incremental system using the time-delay estimation (TDE). Then, based on the incremental system, the tracking IMPC is designed in the framework of MPC without terminal ingredients. Thus, compared with existing MPC methods, the nominal mathematical model is not required. Moreover, we investigate reachable reference trajectories and confirm the local input-to-state stability (ISS) of IMPC, considering the bounded TDE error as the disturbance of the incremental system. For reachable reference trajectories, the local ISS of IMPC is analyzed using the continuity of the value function, and the cumulative error bound is not overconservative. Finally, several real-time experiments are conducted to verify the effectiveness of IMPC. Experimental results show that the system can achieve optimal control performance while guaranteeing that input and state constraints are not violated.
elib-URL des Eintrags: | https://elib.dlr.de/148786/ | ||||||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||
Titel: | Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | Februar 2022 | ||||||||||||||||||||||||||||
Erschienen in: | IEEE Transactions on Control Systems Technology | ||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||
Band: | 30 | ||||||||||||||||||||||||||||
DOI: | 10.1109/TCST.2022.3142629 | ||||||||||||||||||||||||||||
Seitenbereich: | Seiten 2285-2300 | ||||||||||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||||||
ISSN: | 1063-6536 | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | Incremental system; input-to-state stability (ISS); model predictive control (MPC); time-delay estimation (TDE). | ||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Laufroboter/Lokomotion [RO] | ||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||||||
Hinterlegt von: | Lee, Dr. Jinoh | ||||||||||||||||||||||||||||
Hinterlegt am: | 28 Feb 2022 09:17 | ||||||||||||||||||||||||||||
Letzte Änderung: | 25 Okt 2022 16:58 |
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