论文标题
跟踪不足的非最低相多体系统的控制
Tracking control for underactuated non-minimum phase multibody systems
论文作者
论文摘要
我们考虑对多体系统进行跟踪控制，这些系统是使用自动和非全面约束对其进行建模的。此外，系统可能不足并包含运动循环，因此由一组差分 - 代数方程式描述，这些方程无法重新构成通常为普通微分方程。我们提出了一种控制策略，该策略将基于伺服构成方法的进发电量控制器与基于最新漏斗控制设计的反馈控制器相结合。作为两种方法的重要工具，我们提出了一个新的过程，以得出多体系统的内部动力学。此外，我们为内部动力学提出了一组可行的坐标，避免了伯恩斯 - 伊斯托里形式的计算所涉及的努力。通过运动环的非线性非最低相多输出机器人操作器的模拟证明了控制设计。
We consider tracking control for multibody systems which are modelled using holonomic and nonholonomic constraints. Furthermore, the systems may be underactuated and contain kinematic loops and are thus described by a set of differential-algebraic equations that cannot be reformulated as ordinary differential equations in general. We propose a control strategy which combines a feedforward controller based on the servo-constraints approach with a feedback controller based on a recent funnel control design. As an important tool for both approaches we present a new procedure to derive the internal dynamics of a multibody system. Furthermore, we present a feasible set of coordinates for the internal dynamics avoiding the effort involved with the computation of the Byrnes-Isidori form. The control design is demonstrated by a simulation for a nonlinear non-minimum phase multi-input, multi-output robotic manipulator with kinematic loop.
