摘要：AbstractIn this paper, a new method for model based optimal tracking control is presented. The special composition of the cost functional leads to design parameters for constraining the solution so as to ensure that machine limitations are not violated. By minimizing the cost functional with the calculus of variations, or more precisely the Euler-Lagrange equations, the state space representation of the system dynamics is transformed into an augmented state space representation describing the optimal tracking dynamics. The optimal control input is numerically calculated by solving the set of differential equations, given by the augmented state space system, globally with a specialized least-squares solver. The general control approach is demonstrated on an underactuated crane-like system with fixed load hoisting length operating in the horizontal plane. In this case the introduced design parameters determine the tradeoff between the cost of tracking accuracy and the cost of using large values of crane speed and acceleration. The potential of the proposed control scheme is proven by both simulation and experimental tests. The multibody simulation is carried out with the software Simscape MultibodyTM. For the experimental verification an industrial robot is used whose end effector only moves in a horizontal plane to imitate the trolley of an overhead crane.
关键词：KeywordsTrajectory trackingOverhead craneFeedforward controlOptimal controlModel-based control
