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Particle swarm optimization-based algorithm of a symplectic method for robotic dynamics and control

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Abstract

Multibody system dynamics provides a strong tool for the estimation of dynamic performances and the optimization of multisystem robot design. It can be described with differential algebraic equations (DAEs). In this paper, a particle swarm optimization (PSO) method is introduced to solve and control a symplectic multibody system for the first time. It is first combined with the symplectic method to solve problems in uncontrolled and controlled robotic arm systems. It is shown that the results conserve the energy and keep the constraints of the chaotic motion, which demonstrates the efficiency, accuracy, and time-saving ability of the method. To make the system move along the pre-planned path, which is a functional extremum problem, a double-PSO-based instantaneous optimal control is introduced. Examples are performed to test the effectiveness of the double-PSO-based instantaneous optimal control. The results show that the method has high accuracy, a fast convergence speed, and a wide range of applications. All the above verify the immense potential applications of the PSO method in multibody system dynamics.

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Authors and Affiliations

  1. School of Natural and Applied Science, Northwestern Polytechnical University, Xi’an, 710072, China

    Zhaoyue Xu & Lin Du

  2. School of Aeronautics, Northwestern Polytechnical University, Xi’an, 710072, China

    Zhaoyue Xu & Haopeng Wang

  3. Ministry of Industry and Information Technology (MIIT) Key Laboratory of Dynamics and Control of Complex Systems, Northwestern Polytechnical University, Xi’an, 710072, China

    Lin Du & Zichen Deng

  4. Department of Engineering Mechanics, Northwestern Polytechnical University, Xi’an, 710072, China

    Zichen Deng

Authors
  1. Zhaoyue Xu
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  2. Lin Du
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  3. Haopeng Wang
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  4. Zichen Deng
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Corresponding author

Correspondence to Lin Du.

Additional information

Project supported by the National Natural Science Foundation of China (Nos. 91648101 and 11672233), the Northwestern Polytechnical University (NPU) Foundation for Fundamental Research (No. 3102017AX008), and the National Training Program of Innovation and Entrepreneurship for Undergraduates (No. S201710699033)

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Xu, Z., Du, L., Wang, H. et al. Particle swarm optimization-based algorithm of a symplectic method for robotic dynamics and control. Appl. Math. Mech.-Engl. Ed. 40, 111–126 (2019). https://doi.org/10.1007/s10483-019-2412-6

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  • DOI: https://doi.org/10.1007/s10483-019-2412-6

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Chinese Library Classification

2010 Mathematics Subject Classification

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