Trajectory tracking and point stability of three-axis aero-dynamic pendulum with MPC strategy in disturbance environment

IF 1.9 4区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Assembly Automation Pub Date : 2021-06-14 DOI:10.1108/AA-11-2020-0181
Xiaofeng Liu, Jiahong Xu, Yuhong Liu
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Abstract

Purpose The purpose of this research on the control of three-axis aero-dynamic pendulum with disturbance is to facilitate the applications of equipment with similar pendulum structure in intelligent manufacturing and robot. Design/methodology/approach The controller proposed in this paper is mainly implemented in the following ways. First, the kinematic model of the three-axis aero-dynamic pendulum is derived in state space form to construct the predictive model. Then, according to the predictive model and objective function, the control problem can be expressed a quadratic programming (QP) problem. The optimal solution of the QP problem at each sampling time is the value of control variable. Findings The trajectory tracking and point stability tests performed on the 3D space with different disturbances are validated and the results show the effectiveness of the proposed control strategy. Originality/value This paper proposes a nonlinear unstable three-axis aero-dynamic pendulum with less power devices. Meanwhile, the trajectory tracking and point stability problem of the pendulum system is investigated with the model predictive control strategy.
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扰动环境下基于MPC策略的三轴气动摆轨迹跟踪与点稳定性
目的研究具有扰动的三轴气动摆的控制,以便于类似摆结构的设备在智能制造和机器人中的应用。设计/方法论/方法本文提出的控制器主要通过以下方式实现。首先,以状态空间形式推导了三轴气动摆的运动学模型,建立了预测模型。然后,根据预测模型和目标函数,控制问题可以表示为二次规划(QP)问题。QP问题在每个采样时间的最优解是控制变量的值。结果验证了在具有不同扰动的三维空间上进行的轨迹跟踪和点稳定性测试,结果表明了所提出的控制策略的有效性。独创性/价值本文提出了一种具有小功率装置的非线性不稳定三轴气动摆。同时,采用模型预测控制策略研究了摆系统的轨迹跟踪和点稳定性问题。
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来源期刊
Assembly Automation
Assembly Automation 工程技术-工程:制造
CiteScore
4.30
自引率
14.30%
发文量
51
审稿时长
3.3 months
期刊介绍: Assembly Automation publishes peer reviewed research articles, technology reviews and specially commissioned case studies. Each issue includes high quality content covering all aspects of assembly technology and automation, and reflecting the most interesting and strategically important research and development activities from around the world. Because of this, readers can stay at the very forefront of industry developments. All research articles undergo rigorous double-blind peer review, and the journal’s policy of not publishing work that has only been tested in simulation means that only the very best and most practical research articles are included. This ensures that the material that is published has real relevance and value for commercial manufacturing and research organizations.
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