Band-Limited Trajectory Planning and Tracking for Certain Dynamically Stabilized Mobile Systems
Band-Limited Trajectory Planning and Tracking for Certain Dynamically Stabilized Mobile Systems
复制标题
某些动态稳定移动系统的带限轨迹规划和跟踪
DOI：
10.1115/1.2168158
复制
发表时间：
2006
影响因子：
1.7
通讯作者：
S. Agrawal
中科院分区：
文献类型：
--
作者：
K. Pathak;S. Agrawal
在本文中，轨迹规划和跟踪的一般框架制定的动态稳定的移动的系统，例如，倒置轮式飞行器和自主直升机。在此框架内，系统状态分为慢子状态和快子状态。快速子状态用作跟踪所需慢速子状态轨迹的伪控制。首先，设计一个指数快速子状态控制器来跟踪快速子状态参考轨迹。该快速子状态参考轨迹又被规划为使得慢速子状态遵循其期望轨迹。为了确保快速子状态参考轨迹是可行的指数控制器，它是使用带限的“Sinc”功能，其最大频率小于指数控制器的时间常数的倒数。为了说明这个过程，一个倒轮摆的动力学模型是重新制定的部分反馈线性化，使它是服从分离成慢，快组件。规划和跟踪控制器的设计解释使用仿真结果。这种技术被证明是很容易嵌入到一个修改后的非线性模型预测控制框架的慢子系统。该框架试图明确考虑计算延迟。从现实世界的实现角度来看，这种技术所需的计算时间是令人鼓舞的。
In this paper, a general framework for trajectory planning and tracking is formulated for dynamically stabilized mobile systems, e.g., inverted wheeled pendulums and autonomous helicopters. Within this framework, the system state is divided into slow and fast substates. The fast substate is used as a pseudocontrol for tracking a desired slow substate trajectory. First, an exponential fast substate controller is designed to track a fast substate reference trajectory. This fast substate reference trajectory is, in turn, planned so that the slow substate follows its desired trajectory. To ensure that the fast substate reference trajectory is feasible for the exponential controller, it is designed using band-limited "Sinc" functions whose maximum frequency is less than the inverse of the time constant of the exponential controller. To illustrate the procedure, the dynamic model of an inverted wheeled pendulum is reformulated by a partial feedback linearization such that it is amenable to the separation into slow and fast components. The planning and tracking controller design is explained using simulation results. This technique is shown to be easily embedded inside a modified nonlinear model predictive control framework for the slow subsystem. This framework tries to explicitly take the computational delay into account. The computation time required for this technique is encouraging from a real-world implementation perspective.