Control and stabilization of parallel robotic manipulators is a non-trivial problem because of nonlinearities and multivariable structure. In this article a nonlinear optimal control approach is proposed for the dynamic model of such robotic systems, using as a case-study the model of a ¿ve-link parallel robot. The dynamic model of the parallel robotic manipulator undergoes approximate linearization around a temporary operating point that is recomputed at each time-step of the control method. The linearization relies on Taylor series expansion and on the associated Jacobian matrices. For the linearized state-space model of the system a stabilizing optimal (H-in¿nity) feedback controller is designed. This controller stands for the solution to the nonlinear optimal control problem under model uncertainty and external perturbations. To compute the controller's feedback gains an algebraic Riccati equation is repetitively solved at each iteration of the control algorithm. The stability properties of the control method are proven through Lyapunov analysis..

Nonlinear Optimal Control of Parallel Robotic Manipulators

Cuccurullo G.;Siano P.;
2023-01-01

Abstract

Control and stabilization of parallel robotic manipulators is a non-trivial problem because of nonlinearities and multivariable structure. In this article a nonlinear optimal control approach is proposed for the dynamic model of such robotic systems, using as a case-study the model of a ¿ve-link parallel robot. The dynamic model of the parallel robotic manipulator undergoes approximate linearization around a temporary operating point that is recomputed at each time-step of the control method. The linearization relies on Taylor series expansion and on the associated Jacobian matrices. For the linearized state-space model of the system a stabilizing optimal (H-in¿nity) feedback controller is designed. This controller stands for the solution to the nonlinear optimal control problem under model uncertainty and external perturbations. To compute the controller's feedback gains an algebraic Riccati equation is repetitively solved at each iteration of the control algorithm. The stability properties of the control method are proven through Lyapunov analysis..
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11386/4853088
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 0
  • ???jsp.display-item.citation.isi??? ND
social impact