Nonlinear control of planar multibody systems in shape space
Nonlinear control of planar multibody systems in shape space
复制标题
形状空间中平面多体系统的非线性控制
DOI：
10.1007/bf02134010
复制
发表时间：
1992
期刊：
影响因子：
--
通讯作者：
N. Sreenath
中科院分区：
文献类型：
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作者：
N. Sreenath
研究了平面多体系统的建模、降阶和非线性控制问题，这些问题的动机是经典的cat-fallproblem和带有旋转关节的自由漂浮多体卫星的实际重定向问题，这些问题都是使用角动量保持控制的。所考虑的系统模型被减少的第一个积分（系统角动量），从而在一个哈密顿系统的配置空间的相对关节角度（形状空间）。利用动力学重构方法对形状空间模型进行修正，并跟踪绝对角度的相移。一个重要的可达性结果，然后证明在未约配置空间。控制合成，然后可以找到一个反馈形式，解决重新定位问题完全。令人惊讶的是，可达性的结果打破了平面耦合两体系统的情况下，零角动量，证明猫落现象肯定是非平面的。
Modeling, reduction, and nonlinear control of planar multibody systems motivated by the classicalcat-fallproblem and the practical problem of reorientation of free-floating multibody satellites with rotational joints using angular-momentum-preserving controls is studied. The system model considered is reduced by the first integral (the system angular momentum) resulting in a Hamiltonian system with a configuration space of relative joint angles (shape space). Reconstruction of dynamics is applied to modify the shape-space model and track the phase shift of the absolute angles. An important reachability result is then proved in the unreduced configuration space. Control synthesis can then be found in a feedback form, solving the reorientation problem completely. Surprisingly, the reachability result breaks down in the case of the planar coupled two-body system with zero angular momentum, proving that the cat-fall phenomenon is definitely nonplanar.