| 黄巍,占红武,胥芳.基于改进GMRES算法的水冷壁运动机器人路径跟踪模型预测控制[J].高技术通讯(中文),2021,31(10):1090~1100 |
| 基于改进GMRES算法的水冷壁运动机器人路径跟踪模型预测控制 |
| Path tracking model predictive control of water wall moving robot using modified GMRES algorithm |
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| DOI：10.3772/j.issn.1002-0470.2021.10.010 |
| 中文关键词: 水冷壁爬壁机器人（WWCB）； 非线性模型预测控制（NMPC）； 半平滑函数； 连续/广义极小残量算法（C/GMRES）； 多重打靶法； 路径跟踪 |
| 英文关键词: water wall climbing robot (WWCB), nonlinear model predictive control (NMPC), semi smooth function, continuous/generalized minimum residual algorithm (C/GMRES), multiple shooting method, path tracking |
| 基金项目: |
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| 摘要点击次数: 1706 |
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| 中文摘要: |
| 针对水冷壁爬壁机器人（WWCB）路径跟踪问题，提出一种快速非线性模型预测控制(NMPC)算法。定义WWCB与虚拟目标的跟踪误差，将跟踪问题转化为Bolza形式的NMPC最优控制问题。通过引入半平滑函数,对不等式进行优化处理，构建最优化必要条件。基于庞特里亚金极小值原理建立广义哈密顿函数，采用连续/广义极小残量算法(C/GMRES)计算求解，并引入多重打靶法提高运算精度。同时对GMRES算法残量求取方式进行了优化以提高运行效率。对伯努利双纽线和圆形路径进行了跟踪仿真，验证了本文的跟踪控制快速算法的有效性。 |
| 英文摘要: |
| A fast nonlinear model predictive control (NMPC) algorithm is proposed for water wall climbing robot (WWCB) path tracking. The tracking error between WWCB and virtual target is defined, and the tracking problem is transformed into Bolza form of NMPC optimal control problem. The semi-smooth function is introduced to optimize the inequality, and the necessary conditions for optimization are constructed. Based on Pontriagin’s minimum principle, the generalized Hamiltonian function is established, and continuous/generalized minimum residual algorithm (C/GMRES) is used to calculate the solution, as well as to improve the calculation accuracy, the multiple shooting method is introduced. At the same time, GMRES algorithm is optimized to improve the operating efficiency. The tracking simulation of Bernoulli double-wire and circular path is carried out to verify the effectiveness of the proposed tracking control algorithm. |
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