[1]李泽昕,徐凤,张孟玄,等.时变二次规划的高精度数值算法[J].华侨大学学报(自然科学版),2019,40(3):405-411.[doi:10.11830/ISSN.1000-5013.201807052]
　LI Zexin,XU Feng,ZHANG Mengxuan,et al.Numerical Algorithm With High Computational Precision for Time-Varying Quadratic Program[J].Journal of Huaqiao University(Natural Science),2019,40(3):405-411.[doi:10.11830/ISSN.1000-5013.201807052]
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时变二次规划的高精度数值算法()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第40卷
期数:
2019年第3期
页码:
405-411
栏目:
出版日期:
2019-05-20

文章信息/Info

Title:
Numerical Algorithm With High Computational Precision for Time-Varying Quadratic Program
文章编号:
1000-5013(2019)03-0405-07
作者:
李泽昕;  徐凤;  张孟玄;  郭东生
华侨大学 信息科学与工程学院, 福建 厦门 361021
Author(s):
LI Zexin;  XU Feng;  ZHANG Mengxuan;  GUO Dongsheng
College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China
关键词:
时变二次规划;  数值算法;  泰勒差分公式;  机械臂;  运动控制
Keywords:
time-varying quadratic program;  numerical algorithm;  Taylor difference formula;  robot manipulator;  motion control
分类号:
TP183
DOI:
10.11830/ISSN.1000-5013.201807052
文献标志码:
A
摘要:
提出一种用于求解时变二次规划问题的高精度数值算法.首先,给出求解时变二次规划问题的连续模型;然后,采用新型泰勒差分公式将连续模型离散,得到具有高计算精度的数值算法;最后,通过理论分析和仿真实验表明该数值算法的优越性和有效性,并将所提出的数值算法应用于一个五连杆机械臂的运动控制中.研究结果表明:所提算法的计算稳态误差与采样间隔τ具有O(τ4)的关系,该数值算法既可以有效地求解时变二次规划问题,又能有效地应用于机械臂的运动控制.
Abstract:
A high precision numerical algorithm is proposed to solve the problem of time-varying quadratic program. Firstly, the continuous-time model for time-varying quadratic program is given. Secondly, the numerical algorithm with a high computational precision is then derived by employing a new Taylor difference formula to discretize the above continuous-time model. Finally, the theoretical analysis and simulational experiments further indicate the superiority and effectiveness of the proposed numerical algorithm, and the proposed algorithm is applied to the motion control of a five-link robot manipulator. The results show that the calculated steady-state error of the proposed algorithm has a relationship of O(τ4)with the sampling interval τ, this numerical algorithm can both effectively solve the time-varying quadratic programming problem and apply to the motion control of the manipulator.

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备注/Memo

备注/Memo:
收稿日期: 2018-07-29
通信作者: 郭东生(1987-),男,副教授,博士,主要从事数值算法、神经网络和机器人的研究.E-mail:gdongsh@hqu.edu.cn.
基金项目: 国家自然科学基金资助项目(61603143); 福建省自然科学基金资助项目(2016J01307); 华侨大学中青年教师资助计划项目(ZQN-YX402); 高层次人才科研启动项目(15BS410); 华侨大学研究生科研创新能力培育计划资助项目(17013082041)
更新日期/Last Update: 2019-05-20