| 引用本文: | 李旻,熊亮,尹辉,上官文斌,秦武.含不等式约束的欠驱动系统约束跟随控制[J].控制理论与应用,2020,37(9):1971~1982.[点击复制] |
| LI Min,XIONG Liang,YIN Hui,SHANGGUAN Wen-bin,QIN Wu.Constraint-following control for underactuated systems with inequality constraints[J].Control Theory and Technology,2020,37(9):1971~1982.[点击复制] |
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| 含不等式约束的欠驱动系统约束跟随控制 |
| Constraint-following control for underactuated systems with inequality constraints |
| 摘要点击 3215 全文点击 942 投稿时间：2019-11-17 修订日期：2020-08-05 |
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| DOI编号 10.7641/CTA.2020.90954 |
| 2020,37(9):1971-1982 |
| 中文关键词 欠驱动系统 约束跟随控制 不等式约束 PVTOL飞行器 |
| 英文关键词 underactuated system constraint-following control inequality constraint: PVTOL aircraft |
| 基金项目 中国博士后科学基金(2019M652880); 华南理工大学中央高校基本科研业务费项目(2019MS064)；湖南大学汽车车身先进设计制造国家重点实验室开放基金 (No.31915002) |
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| 中文摘要 |
| 在运动控制领域, 欠驱动机械系统通常需要满足一系列的等式约束(完整或非完整的)以便获得较好的运动
表现, 同时出于安全考虑还需要满足一定的不等式约束条件. 本文提出了一种约束跟随控制方法, 用以解决同时含
等式和不等式约束的欠驱动系统控制问题. 该控制设计主要分为两步: 第1步: 只考虑系统需要满足的等式约束, 运
用约束跟随控制方法推导出基于系统模型的状态反馈控制律; 第2步: 考虑系统需要满足的不等式约束, 先通过状
态变量映射将不等式约束整合到原等式约束中以得到新的等式约束, 再基于新的等式约束和第1步所述的约束跟随
控制方法, 推导出系统所需的状态反馈控制律. 将该约束跟随控制方法应用于三自由度非线性强耦合的欠驱动平面
垂直起降(PVTOL)飞行器. 仿真结果表明, 该控制方法能有效处理PVTOL飞行器运动过程中需满足的等式约束(轨
迹跟踪和姿态保持)和不等式约束(边界服从). |
| 英文摘要 |
| In the field of motion control, underactuated mechanical systems are required to obey a set of holonomic
and/or nonholonomic equality constraints in order to achieve better performance. On the other hand, due to the safety concerns,
they also need to obey some inequality constraints. This paper endeavours to develop a constraint-following control
methodology to solve the control problems of underactuated systems subject to both equality and inequality constraints.
The control is designed in two steps. First, without considering the inequality constraints, constraint-following control design
for underactuated systems is investigated. Second, a variable transformation technique is introduced to incorporate the
inequality constraints into the equality constraints, yielding new equality constraints. The new equality constraints include
the original equality constraints and the inequality constraints. Therefore, we are able to obtain the constraint-following
control that renders the system to satisfy the original equality constraints and the inequality constraints, via designing the
constraint-following control rendering the system to follow the new equality constraints based on the first step. The effectiveness
of the proposed control is demonstrated on planar vertical take-off and landing (PVTOL) aircraft by numerical
simulation, which has both equality constraints (trajectory tracking and attitude maintaining) and inequality constraints
(boundary obedience). |
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