Control of underactuated mechanical systems using high frequency input
Control of underactuated mechanical systems using high frequency input
复制标题
使用高频输入控制欠驱动机械系统
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
C. Woolsey
中科院分区：
文献类型：
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作者：
S. Tahmasian;Haithem E. Taha;C. Woolsey
针对一类欠驱动机械系统，提出了一种利用高频周期输入进行闭环控制的方法。该方法利用平均定理和高频强迫与低频振幅调制之间的时间尺度分离。本文首先从一个特殊的情况下，两个自由度的系统与单输入。一个闭环控制器的开发，迫使未驱动的坐标的时间平均值，按照所需的（低频）轨迹。然后，该方法被扩展到具有更多的自由度和多个输入的系统，它被修改，以使低频轨迹跟踪（平均）致动坐标，以及未致动坐标。为了说明，该方法被应用到一个三自由度的拍动板在均匀流的位置控制问题。
This paper describes an approach to closed-loop control of a class of underactuated mechanical systems using a high frequency periodic input whose amplitude is modulated through feedback. The approach makes use of the averaging theorem and the time scale separation between the high frequency forcing and the low frequency amplitude modulation. The paper begins with the special case of a two degree of freedom system with a single input. A closed-loop controller is developed that forces the time-averaged value of the unactuated coordinate to follow a desired (low frequency) trajectory. The method is then extended to systems with more degrees of freedom and multiple inputs and it is modified to enable low frequency trajectory tracking in the (averaged) actuated coordinates, as well as the unactuated coordinates. To illustrate, the approach is applied to the problem of position control for a three degree of freedom flapping plate in a uniform flow.