Research on Joint Multi-Performance Synchronization Optimization Control for Robots Based on Energy Control and Agent Optimization Algorithms
In order to address the comprehensive performance requirements of mobile robots,such as high performance output and long-term endurance,a joint multi-performance synchronization optimization port-controlled Hamiltonian energy control method is proposed.Firstly,the mathematical model of the robot joint and the Hamiltonian energy control model are established,and the joint-targeted energy transmission system model,which can be conveniently optimized using model-based optimization algorithms,is derived.Second-ly,an energy closed-loop controller is constructed,which,combined with the magnetic field vector control,achieves closed-loop control of the robot joint.A multi-performance synchronization optimization control strategy is designed to ensure both the operational output capability and the longest endurance of the robot joint.MATLAB/Simulink simulation results demonstrate that the joint multi-performance synchronization optimization port-controlled Hamiltonian energy controller provides good stability for the robot joint,and the synchronization optimization control strategy exhibits advantages in terms of output capability and en-durance compared with other control strategies through comprehensive multi-criteria analysis.
robot jointmotor controlport-controlled Hamiltonianagent optimization model
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