论文标题
通过协同结构控制设计对不足的机械系统的定期运动优化
Periodic Motion Optimization for an Underactuated Mechanical System through Synergistic Structure-Control Design
论文作者
论文摘要
在这项工作中，我们介绍了二-DOF未能机械系统的集成结构控制设计，旨在实现最终效应器的周期性运动。所需的行为是通过输入输出线性化生成的，然后是零动力学的结构优化。受到多体系统的最新作品的启发，我们根据系统响应的仿真来定义优化问题。特别是，相关模型参数用于将参考与零动力学的特定轨道匹配，同时也惩罚输入能量。对于考虑的应用，所选参数与机制的弹性和质量分布有关。值得注意的是，我们表明可以在质量减少和周期性运动准确性之间进行理想的权衡。有了最佳的零动力响应，可以通过已建立的轨道稳定技术来完成控制方案，从而确保稳健的振荡行为。
In this work, we present the integrated structure-control design of a 2-DOF underactuated mechanical system, aiming to achieve a periodic motion of the end-effector. The desired behavior is generated via input-output linearization, followed by structural optimization of the zero dynamics. Inspired by recent works on the control-oriented design of multibody systems, we define an optimization problem based on the simulation of the system's response. In particular, relevant model parameters are used to match the reference with a specific orbit of the zero dynamics, while also penalizing the input energy. For the considered application, the selected parameters are related to the mechanism's elasticities and mass distribution. Notably, we show that it is possible to reach a desirable trade-off between mass reduction and periodic motion accuracy. With an optimal zero dynamics response available, the control scheme can be completed with established orbital stabilization techniques, ensuring a robust oscillating behavior.
