【摘要】 本文提出一种对多关节机器人进行分散预测控制的方法,这种方法把分散控制的结构优点与预测控制的性能优点结合起来,以提高控制的实时性和鲁棒性。文中研究了这一分散控制的多层结构,并着重讨论了不同分散信息结构下的关连预测策略,最后以仿真实例说明了这种分散预测控制方法的有效性。更多还原

【Abstract】 In this paper,a decentralized predictive control scheme is proposed for controlling multi-link manipulators.This new control concept combines die advantages of the decentralized control structure and the predictive control algorithm to improve the real-time control and robustness.The multi-layer structure of the decentralized control is investigated and the interconnection prediction strategies under different decentralized information structures are specially discussed.Simulation examples are included to show the performance of this new control method.更多还原