Trajectory Tracking Control of Transformer Inspection Robot Using Distributed Model Predictive Control
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...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-11-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/23/22/9238 |
| _version_ | 1797457734073843712 |
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| author | Lai Wei Guofei Xiang Congjun Ma Xuejian Jiang Songyi Dian |
| author_facet | Lai Wei Guofei Xiang Congjun Ma Xuejian Jiang Songyi Dian |
| author_sort | Lai Wei |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-09T16:27:12Z |
| format | Article |
| id | doaj.art-290dc3f60030455c8aed33d151a2ebe4 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T16:27:12Z |
| publishDate | 2023-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-290dc3f60030455c8aed33d151a2ebe42023-11-24T15:05:52ZengMDPI AGSensors1424-82202023-11-012322923810.3390/s23229238Trajectory Tracking Control of Transformer Inspection Robot Using Distributed Model Predictive ControlLai Wei0Guofei Xiang1Congjun Ma2Xuejian Jiang3Songyi Dian4College of Electrical Engineering, Sichuan University, Chengdu 610065, ChinaCollege of Electrical Engineering, Sichuan University, Chengdu 610065, ChinaCollege of Electrical Engineering, Sichuan University, Chengdu 610065, ChinaCollege of Electrical Engineering, Sichuan University, Chengdu 610065, ChinaCollege of Electrical Engineering, Sichuan University, Chengdu 610065, ChinaTo 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.https://www.mdpi.com/1424-8220/23/22/9238underwater robotdistributed model predictive controltrajectory tracking control |
| spellingShingle | Lai Wei Guofei Xiang Congjun Ma Xuejian Jiang Songyi Dian Trajectory Tracking Control of Transformer Inspection Robot Using Distributed Model Predictive Control Sensors underwater robot distributed model predictive control trajectory tracking control |
| title | Trajectory Tracking Control of Transformer Inspection Robot Using Distributed Model Predictive Control |
| title_full | Trajectory Tracking Control of Transformer Inspection Robot Using Distributed Model Predictive Control |
| title_fullStr | Trajectory Tracking Control of Transformer Inspection Robot Using Distributed Model Predictive Control |
| title_full_unstemmed | Trajectory Tracking Control of Transformer Inspection Robot Using Distributed Model Predictive Control |
| title_short | Trajectory Tracking Control of Transformer Inspection Robot Using Distributed Model Predictive Control |
| title_sort | trajectory tracking control of transformer inspection robot using distributed model predictive control |
| topic | underwater robot distributed model predictive control trajectory tracking control |
| url | https://www.mdpi.com/1424-8220/23/22/9238 |
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