Nonlinear Model Predictive Control (NMPC) based shared autonomy for bilateral teleoperation in CFETR Remote Handling
文献类型：期刊论文
| 作者 | Zhang, Jun1,2 ; Zhang, Xuanchen1; Cheng, Yong1; Cheng, Yang1; Zhang, Qiong1; Lu, Kun1
|
| 刊名 | NUCLEAR ENGINEERING AND TECHNOLOGY
 |
| 出版日期 | 2024-10-01 |
| 卷号 | 56 |
| 关键词 | Remote handling Bilateral teleoperation NMPC Shared autonomy CFETR CMOR |
| ISSN号 | 1738-5733 |
| DOI | 10.1016/j.net.2024.06.005 |
| 通讯作者 | Lu, Kun(lukun@ipp.ac.cn) |
| 英文摘要 | During the process of bilateral teleoperation, operators not only need to perform complex maintenance tasks but also have to constantly monitor the safety of the operation, leading to reduced operational efficiency. Therefore, in this paper, we introduce a shared autonomous scheme that intervenes in the operator's command input when necessary, autonomously ensuring the safe operation of the manipulator by employing a rolling horizon planning controller based on Nonlinear Model Predictive Control (NMPC). This controller considers the motion boundaries and collision avoidance constraints of the manipulator, accompanied by the design of corresponding objective functions. To validate the effectiveness of the proposed method, we conduct tests on collision-free trajectory tracking and comprehensive performance with collision constraints, confirming the feasibility and excellent performance of the approach. |
| 资助项目 | Comprehensive Research Facility for Fusion Technology Program of China[2018-000052-73-01-001228] ; Post-doctoral Fellowship Program of CPSF[GZC20232717] ; CASHIPS Director's Fund[YZJJ2024QN17] |
| WOS研究方向 | Nuclear Science & Technology |
| 语种 | 英语 |
| WOS记录号 | WOS:001315590600001 |
| 出版者 | KOREAN NUCLEAR SOC |
| 资助机构 | Comprehensive Research Facility for Fusion Technology Program of China ; Post-doctoral Fellowship Program of CPSF ; CASHIPS Director's Fund |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/135461]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Lu, Kun |
| 作者单位 | 1.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Plasma Phys, Hefei, Peoples R China 2.Univ Sci & Technol China, Hefei, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhang, Jun,Zhang, Xuanchen,Cheng, Yong,et al. Nonlinear Model Predictive Control (NMPC) based shared autonomy for bilateral teleoperation in CFETR Remote Handling[J]. NUCLEAR ENGINEERING AND TECHNOLOGY,2024,56. |
| APA | Zhang, Jun,Zhang, Xuanchen,Cheng, Yong,Cheng, Yang,Zhang, Qiong,&Lu, Kun.(2024).Nonlinear Model Predictive Control (NMPC) based shared autonomy for bilateral teleoperation in CFETR Remote Handling.NUCLEAR ENGINEERING AND TECHNOLOGY,56. |
| MLA | Zhang, Jun,et al."Nonlinear Model Predictive Control (NMPC) based shared autonomy for bilateral teleoperation in CFETR Remote Handling".NUCLEAR ENGINEERING AND TECHNOLOGY 56(2024). |
入库方式： OAI收割
来源：合肥物质科学研究院
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。