Trajectory tracking control of cable-driven continuum robot based on QPSO-MPC

被引：0
作者：
Chen, Qi [1 ]
Di, Hao [1 ]
Shen, Kangyu [1 ]
机构：
[1] School of Logistics Engineering, Shanghai Maritime University, Shanghai
来源：
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2023年 / 51卷 / 11期
关键词：
automatic control technology; cable-driven continuum robot; model predictive control; quantum particle swarm optimization; trajectory tracking;
D O I：
10.13245/j.hust.229388
中图分类号：
学科分类号：
摘要：
To solve the problem that it was difficult to control cable-driven continuum robots accurately and smoothly，a model predictive control (MPC) method based on quantum particle swarm optimization (QPSO) was designed to achieve accurate trajectory tracking under constraints． The kinematics model of the continuum robot was established by the mapping relationship among driving space，joint space and working space．The Jacobian matrix derived from the coordinate transformation of the end-effector was discretized to obtain the linear error model of the robot．The dynamic control variables were solved by the QPSO model under system constraints．Operational experiment results show that compared with the traditional MPC，the average error of the designed QPSO-MPC is reduced by 52.64%． © 2023 Huazhong University of Science and Technology. All rights reserved.
引用
收藏
页码：23 / 29
页数：6
相关论文
共 50 条
  • [31] Trajectory Tracking and Obstacle Avoidance Control of Unmanned Underwater Vehicles Based on MPC
    Sun, Bing
    Zhang, Wei
    Song, Aiguo
    Zhu, Xixi
    Zhu, Daqi
    [J]. 2018 IEEE 8TH INTERNATIONAL CONFERENCE ON UNDERWATER SYSTEM TECHNOLOGY: THEORY AND APPLICATIONS (USYS), 2018,
  • [32] Mecanum Wheel AGV Trajectory Tracking Control Based on Efficient MPC Algorithm
    Tang, Min
    Lin, Shusen
    Luo, Yixuan
    [J]. IEEE ACCESS, 2024, 12 : 13763 - 13772
  • [33] Improved Trajectory Tracking Control for a Continuum Robot Using Error-Driven ADRC With Input Mapping Method
    Cao, Yongfeng
    Yang, Wentuo
    Wang, Shuang
    He, Shaoying
    Liu, Zheng
    Xie, Le
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2024, 71 (10) : 12696 - 12706
  • [34] Design of a Cable-Driven Interactive Rehabilitation Device with 3D Trajectory Tracking and Force Feedback
    Xu, Han
    Li, Yibin
    Xu, Dong
    Li, Xiaolong
    Fu, Jianming
    Zhang, Xu
    [J]. INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2022), PT I, 2022, 13455 : 759 - 768
  • [35] MPC-Based Integrated Control of Trajectory Tracking and Handling Stability for Intelligent Driving Vehicle Driven by Four Hub Motor
    Zhai, Li
    Wang, Chengping
    Hou, Yuhan
    Liu, Chang
    [J]. IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2022, 71 (03) : 2668 - 2680
  • [36] MPC Controller for Trajectory Tracking Control of Quadcopter
    Ganga, G.
    Dharmana, Meher Madhu
    [J]. PROCEEDINGS OF 2017 IEEE INTERNATIONAL CONFERENCE ON CIRCUIT ,POWER AND COMPUTING TECHNOLOGIES (ICCPCT), 2017,
  • [37] Combined MPC and Dynamic Neural Network-Based UAVs Trajectory Tracking Control
    Yang, Lei
    Wu, Ligang
    Lv, Yuanyuan
    Zhang, Zhe
    [J]. IEEE ACCESS, 2023, 11 : 145763 - 145771
  • [38] Workspace-Based Model Predictive Control for Cable-Driven Robots
    Song, Chen
    Lau, Darwin
    [J]. IEEE TRANSACTIONS ON ROBOTICS, 2022, 38 (04) : 2577 - 2596
  • [39] QPSO-model predictive control-based approach to dynamic trajectory tracking control for unmanned underwater vehicles
    Gan, Wenyang
    Zhu, Daqi
    Ji, Daxiong
    [J]. OCEAN ENGINEERING, 2018, 158 : 208 - 220
  • [40] Dynamic Modeling and Motion Control Strategy of Cable-Driven Cleaning Robot for Ship Cargo Hold
    Han, Guangdong
    Li, Jian
    Chen, Yizong
    Wang, Shenghai
    Chen, Haiquan
    [J]. JOURNAL OF MARINE SCIENCE AND ENGINEERING, 2023, 11 (01)
12345