<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>In order to understand the different performances of robots under different control systems, the author has carried out dynamic optimization research on the control system of robots combined with differential algebraic equations. In this study, the general form of the discrete differential-algebraic equation (DAE) optimization problem using the Orthogonal Configuration of Finite Element (OCFE) method is deeply analyzed, and the equivalent conditions of the direct discrete scheme and the indirect discrete scheme are obtained through rigorous proof. On this basis, a variety of common configuration methods are simulated and analyzed, and it is found that indirect Lobatto configuration can achieve better results in many aspects. The results show that the discrete algorithm using differential algebraic equations can effectively achieve dynamic optimization of the control system, thus achieving the author’s research purpose.</p>
</abstract>

In order to understand the different performances of robots under different control systems, the author has carried out dynamic optimization research on the control system of robots combined with differential algebraic equations. In this study, the general form of the discrete differential-algebraic equation (DAE) optimization problem using the Orthogonal Configuration of Finite Element (OCFE) method is deeply analyzed, and the equivalent conditions of the direct discrete scheme and the indirect discrete scheme are obtained through rigorous proof. On this basis, a variety of common configuration methods are simulated and analyzed, and it is found that indirect Lobatto configuration can achieve better results in many aspects. The results show that the discrete algorithm using differential algebraic equations can effectively achieve dynamic optimization of the control system, thus achieving the author’s research purpose.

Dynamic Optimization of Robot Automatic Control System Based on Differential Algebraic Equations

Applied Mathematics and Nonlinear Sciences

This work is licensed under the Creative Commons Attribution 4.0 International License.

In order to understand the different performances of robots under different control systems, the author has carried out dynamic optimization research on the...

Dynamic Optimization of Robot Automatic Control System Based on Differential Algebraic Equations

Online veröffentlicht: 28. Apr. 2023

Seitenbereich: 3149 - 3158

Eingereicht: 04. März 2022

Akzeptiert: 05. Juli 2022

DOI: https://doi.org/10.2478/amns.2023.1.00027

Schlüsselwörter
Differential algebraic equation, robot, automatic control system, dynamic optimization

© 2023 Shulei Wang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Dynamic Optimization of Robot Automatic Control System Based on Differential Algebraic Equations

Online veröffentlicht: 28. Apr. 2023

Seitenbereich: 3149 - 3158

Eingereicht: 04. März 2022

Akzeptiert: 05. Juli 2022

DOI: https://doi.org/10.2478/amns.2023.1.00027

SchlüsselwörterDifferential algebraic equation, robot, automatic control system, dynamic optimization

© 2023 Shulei Wang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Schlüsselwörter
Differential algebraic equation, robot, automatic control system, dynamic optimization