Trajectory Tracking Control for Actuator Arrays
Trajectory Tracking Control for Actuator Arrays
复制标题
执行器阵列的轨迹跟踪控制
DOI：
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复制
发表时间：
2013
影响因子：
4.8
通讯作者：
W. Messner
中科院分区：
文献类型：
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作者：
M. Bedillion;W. Messner
执行器阵列是具有两个自由度的执行器的平面布置，可以合作地翻译和对象进行有效的操纵。该简介描述了宏观执行器阵列及其收敛属性的轨迹跟踪控制定律。控制定律是根据数组上对象的运动学设计的。使用Kalman-Yakubovich-Popov方程的直接解决方案发现其收敛属性。模拟表明，控制定律是有效的，并且界限对于无滑动接触的对象很有用。 20个单元原型阵列的实验结果证明了控制器性能。
Actuator arrays are planar arrangements of actuators with two degrees of freedom that cooperatively translate and orient objects for efficient manipulation. This brief describes a trajectory tracking control law for macroscopic actuator arrays and its convergence properties. The control law is designed on the basis of the kinematics of an object on the array. Its convergence properties are found using a direct solution of the Kalman-Yakubovich-Popov equations. Simulations show that the control law is effective and that the bounds are useful for objects under no-slip contact. Experimental results from a 20-unit prototype array demonstrate the controller performance.