Nonlinear Control Problems for Rest-to-Rest Maneuvers of Multi-Body Vehicles using Prismatic Actuators

项目简介：本文提出了一种新的研究方案，用于研究在重力和棱镜驱动器产生的控制力作用下运行的多体车辆的非线性控制。多体车辆是一种机械系统，由一个可以在三维空间中平移和旋转的刚体基础体和受约束的相对于基础体和相互之间移动的辅助体组成。多体车辆使用安装在基座上的棱镜执行器装置进行控制。这些是线性机电致动器，沿着固定在底座上的轨道移动证明质量。这是一种新颖的驱动技术，具有提供新型机动能力的巨大潜力，即精确平移和全局姿态机动，公式车身车辆。另一方面，这种多体车辆的设计和操作面临许多挑战，因为它们不是完全驱动的，因为控制输入比可控制的自由度要少。提出的研究的关键方面，由此产生了主要的研究挑战，是：(1)受控机械对称性及其相关运动积分的存在；(2)实现多体车辆的任意休息到休息机动的目标。虽然一些多体机械系统的非线性控制问题相对简单，但根据现有的知识水平，本研究提出的问题还不能得到充分的处理。拟议的研究是NSF在过去14年里支持的主要研究者的研究的高潮。它代表了他之前对约束和欠驱动机械系统的非线性控制研究的扩展，以解决以前无法使用传统非线性控制方法研究的新问题。本研究的预期贡献包括：(1)发展多体车的非线性控制理论，(2)发展创新的多体车系统设计和控制策略，以及(3)通过学生参与研究产生的教育影响。该研究概念将应用于在空间或水下操作的机动车辆，它们非常适合在空间或水下操作的小规模智能自主传感器系统。拟议的研究有可能提供新的和增强的机动能力，从而为运输，勘探，遥感和监视的整体工程基础设施做出贡献。

PROJECT SUMMARYPage AThis proposal describes a novel research program on nonlinear control of multi-bodyvehicles operating under the action of gravitational forces and control forces generatedby prismatic actuators. Multi-body vehicles are mechanical systems consisting of a rigidbase body that can translate and rotate in three dimensions and auxiliary bodies that areconstrained to move relative to the base body and to one another. The multi-body vehiclesare controlled using prismatic actuator devices, mounted on the base body. These arelinear electromechanical actuators that move a proof mass along a track fixed to the basebody. This is a novel actuation technology that has great potential for providing newmaneuvering capabilities, namely precision translation and global attitude maneuvers, formulti-body vehicles. On the other hand, the design and operation of such multi-bodyvehicles present many challenges since they are not fully actuated in the sense that thereare fewer control inputs than there are degrees of freedom to be controlled. Key aspectsof the proposed research, from which arise the major research challenges, are: (1) thepresence of controlled mechanical symmetries and their associated integrals of motion and(2) the objective of achieving arbitrary rest to rest maneuvers for the multi-bodyvehicles.Although some nonlinear control problems for multi-body mechanical systems are relativelysimple, the problems posed in this research can not be adequately handled based on thecurrent state of knowledge. The proposed research is the culmination of the NSF supportedresearch of the principal investigator over the last fourteen years. It represents anextension of his previous research on nonlinear control of constrained and underactuatedmechanical systems to new problems that have not previously been amenable to study usingtraditional nonlinear control methods. The expected contributions of the proposedresearch are: (1) the development of nonlinear control theory for the class of multi-bodyvehicles studied, (2) the development of innovative new system design and controlstrategies for multi-body vehicles, and (3) educational impacts through studentparticipation in the research. The research concepts are to be applied to maneuveringvehicles operating in space or under water, and they are ideally suited for small-scaleintelligent autonomous sensor systems operating in space or under water. The proposedresearch has the potential to provide new and enhanced maneuvering capabilities formulti-body vehicles, thereby contributing to the overall engineering infrastructure intransportation, exploration, remote sensing, and surveillance.