Mobil robotlarda trayektoriya optimallashtirish: Model Predictive Control yondashuvi

Toirxanov Umidillo Bahodir o’g’li

Namangan davlat universiteti, 1-bosqich magistranti

Keywords: Kalit so’zlar: Model Predictive Control (MPC), Biped robotlar, Trayektoriya generatsiyasi, CoM va ZMP, Receding-horizon boshqaruv, Real vaqt boshqaruvi

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Abstract

Annotatsiya: Ushbu maqola ikki oyoqli robotlar uchun Model Predictive Control (MPC) asosida trayektoriya generatsiyasini ko‘rib chiqadi. Taklif etilgan yondashuv Og‘irlik markazi (CoM) va Nol moment nuqtasi (ZMP) trayektoriyalarini kuzatish xatoliklarini hamda harakat jarayonida yuzaga keladigan zarbalarni minimallashtiradi va MPC ning qat’iy yakuniy vaqtga ega bo‘lgan nuqtadan-nuqtaga trayektoriya rejalashtirishda real vaqt rejimida qo‘llanilishini o‘rganadi.

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