Affiliation:
1. College of Electrical Engineering, Sichuan University, Chengdu 610065, China
Abstract
To overcome the difficulty in tracking the trajectory of an inspection robot inside a transformer, this paper proposes a distributed model predictive control method. First, the kinematics and dynamics models of a robot in transformer oil are established based on the Lagrange equation. Then, by using the nonlinear model predictive control method and following the distributed control theory, the motion of a robot in transformer oil is decoupled into five independent subsystems. Based on this, a distributed model predictive control (DMPC) method is then developed. Finally, the simulation results indicate that a robot motion control system based on DMPC achieves high tracking accuracy and robustness with reduced computing complexity, and it provides an effective solution for the motion control of robots in narrow environments.
Funder
Sichuan Science and Technology Program
National Key Research and Development Program
Fundamental Research Funds for the Central Universities
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
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