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

使用棱柱形执行器的多体车辆间歇操纵的非线性控制问题

• 批准号: 0244977
• 负责人: Nathaniel McClamroch
• 金额: $ 18万
• 依托单位: Regents of the University of Michigan - Ann Arbor
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2003
• 资助国家: 美国
• 起止时间: 2003-04-15 至 2006-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0244977&HistoricalAwards=false
• 关键词: Nonlinear; Control; Problems; Rest; Maneuvers

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.

本方案描述了一种新的多体车辆的非线性控制研究方案，该方案在重力和由棱镜致动器产生的控制力的作用下运行。多体车辆是由能够在三维空间中平移和旋转的刚基体和受约束的相对于基体和彼此运动的辅助体组成的机械系统。多体车辆使用安装在底座上的棱柱式致动器装置进行控制。这些非线性机电执行器沿固定在底座上的轨道移动校验块。这是一种新的驱动技术，具有很大的潜力为多体飞行器提供新的机动能力，即精确平移和全局姿态机动。另一方面，这种多体车辆的设计和操作提出了许多挑战，因为它们不是完全驱动的，因为控制输入比要控制的自由度少。提出的主要研究挑战是：(1)受控机械对称性及其运动积分的存在和(2)实现多体车辆任意静止到静止机动的目标。尽管多体机械系统的一些非线性控制问题相对简单，但基于当前的知识状态，本研究提出的问题不能很好地处理。这项拟议的研究是美国国家科学基金会资助的首席研究员在过去14年中所做研究的高潮。它代表了他以前对约束和欠驱动机械系统的非线性控制的研究的扩展，到以前不能用传统的非线性控制方法来研究的新问题。这项研究的预期贡献是：(1)为所研究的多体车辆类别发展非线性控制理论，(2)为多体车辆开发创新的系统设计和控制策略，以及(3)通过学生参与研究而产生的教育影响。研究概念将应用于在太空或水下运行的机动飞行器，它们非常适合在空间或水下运行的小规模智能自主传感器系统。拟议的研究有可能为多体车辆提供新的和增强的机动能力，从而为交通、勘探、遥感和监视方面的整体工程基础设施做出贡献。