Control of manipulators in a constrained workspace by means of linked invariant sets
Control of manipulators in a constrained workspace by means of linked invariant sets
复制标题
通过链接不变集控制受限工作空间中的操纵器
DOI：
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发表时间：
2004
期刊：
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通讯作者：
Luca Visentini
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作者：
F. Blanchini;F. A. Pellegrino;Luca Visentini
我们提出了一种在受限环境中控制机械手的新技术。基于约束控制理论的最新发展，我们的方法基本上是通过部分重叠任意固定的凸多面体并形成连通族来覆盖配置空间的允许区域。在配置空间中定义的这些多面体中的每一个都被适当地扩展到状态空间(即配置加速度空间)，以便保持区域之间的所有原始连接，并成为系统的跟踪吸引域，即一组初始状态，从该初始状态可以渐进地逼近参考信号，而不会在瞬变期间违反约束。连接路径不是先验生成的，而是由分层反馈控制器在线自动生成的。高级控制器选择当前状态必须被转移到的限制多面体，该限制多面体最接近包含目标参考的多面体。低级控制器解决了在约束条件下局部跟踪合适的交叉点到达期望的新区域的问题。该方案的稳健性以及控制工作量的约束也被考虑。版权所有©2004 John Wiley&Sons，Ltd.
We propose a new technique for controlling manipulators in constrained environments. Based on recent developments on constrained control theory, our approach basically consists in covering the admissible region of the configuration space by partially overlapping convex polyhedra arbitrarily fixed and forming a connected family. Each of these polyhedra, defined in the configuration space, is suitably extended in the state‐space (i.e. configuration‐plus‐velocity space) in order to maintain all the original connections among regions and to be a tracking domain of attraction for the system, i.e. a set of initial states from which a reference signal can be asymptotically approached without constraints violation during the transient. The connection path is not generated a priori, but it is automatically produced on‐line by a hierarchical feedback controller. A high‐level controller selects the confining polyhedron, to which the current state has to be transferred, which is the closest to the one containing the target reference. A low‐level controller solves the problem of locally tracking a suitable crossing point to the desired new region under constraints. The robustness of the scheme as well as the control effort constraints are also taken into account. Copyright © 2004 John Wiley & Sons, Ltd.