执行器约束下基于数据驱动的参数化前馈控制器设计

针对执行器约束下非重复性点到点运动的轨迹跟踪问题, 提出了一种在执行器约束下基于数据驱动的参数化输入整形滤波器和前馈控制器优化设计算法. 首先对输入整形滤波器以及前馈控制器进行参数化, 然后在目标函数中加入控制信号变化量与控制信号能量的约束, 再采用基于数据驱动的迭代寻优算法得到最优参数, 在该参数下可以实现满足执行器约束条件下的运动控制系统轨迹最优跟踪性能. 并且由于采用了前馈参数化设计方法, 在点到点轨迹发生变化时所提出算法依然能够保持良好的轨迹跟踪性能. 仿真与实验结果表明在执行器约束下所提出算法能够实现最优点到点轨迹跟踪性能, 并且对非重复性点到点轨迹跟踪具有一定的鲁棒性.

Design of parameterized feedforward controller based on data-driven under actuator constraints

Aiming at the trajectory tracking problem of non-repetitive point-to-point motion under actuator constraints, a data-driven parameterized input shaping filter and feedforward controller optimization design algorithm under the constraints of actuators is proposed. Firstly, the input shaping filter and the feedforward controller are parameterized, then the constraints of the control signal variation and the control signal energy are added to the objective function, and the data-driven iterative optimization algorithm is used to obtain the optimal parameters. Under the parameters, the optimal trajectory tracking performance of the motion control system under the constraints of the actuator can be achieved. And because of the feedforward parameterized design method, the proposed algorithm can still maintain good trajectory tracking performance when the point-to-point trajectory changes. Simulation and experimental results show that the proposed algorithm can achieve the optimal point-to-point trajectory tracking performance under the constraints of the actuator, and it has certain robustness to non-repetitive point-to-point trajectory tracking.