Dynamic Optimization of Robot Automatic Control System Based on Differential Algebraic Equations
- Autores: Shoulei Wang, Shiping Liu
- Localización: Applied Mathematics and Nonlinear Sciences, ISSN-e 2444-8656, Vol. 8, Nº. 1, 2023, págs. 3149-3158
- Idioma: inglés
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Resumen
In order to understand the different performances of robots under different control systems, the author has carried outdynamic optimization research on the control system of robots combined with differential algebraic equations. In thisstudy, the general form of the discrete differential-algebraic equation (DAE) optimization problem using the OrthogonalConfiguration of Finite Element (OCFE) method is deeply analyzed, and the equivalent conditions of the direct discretescheme and the indirect discrete scheme are obtained through rigorous proof. On this basis, a variety of commonconfiguration methods are simulated and analyzed, and it is found that indirect Lobatto configuration can achieve betterresults in many aspects. The results show that the discrete algorithm using differential algebraic equations can effectivelyachieve dynamic optimization of the control system, thus achieving the author's research purpose
