Constrained Attitude Control of the 3D Pendulum

3D 摆的约束姿态控制

• 批准号: 0555797
• 负责人: Nathaniel McClamroch
• 金额: $ 24万
• 依托单位: Regents of the University of Michigan - Ann Arbor
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2006
• 资助国家: 美国
• 起止时间: 2006-09-15 至 2010-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0555797&HistoricalAwards=false
• 关键词: Constrained; Attitude; Control; 3D; Pendulum

AbstractThis novel research program investigates the global attitude control of a 3D pendulum with control constraints. The research program is motivated by the scientific and engineering significance of attitude control problems, the lack of prior research on global attitude control with control constraints, and by prior theoretical and experimental research of the principal investigator on attitude dynamics and control. The key feature of the 3D pendulum, as for all attitude control systems, is that the set of all possible attitude configurations is a compact, noncommutative Lie group. The control problems to be investigated fall into two categories: algorithms and computational methods for open loop optimal and near-optimal attitude control maneuvers and Liapunov-based methods for closed loop attitude stabilization using feedback. In each category of attitude control problems, new results will be globally valid without requiring use of local attitude charts or coordinates. A physical implementation of a 3D pendulum, referred to as the triaxial attitude control testbed (TACT), is the basis for the experimental part of the research. The TACT, consisting of a rigid base body supported by a near-frictionless air-bearing pivot, is an excellent laboratory-based research tool for studying the practical aspects of attitude dynamics and control. The research is motivated by important attitude dynamics and control problems that arise in diverse scientific and engineering fields. Important applications of constrained attitude dynamics and control include robotic devices such as gantry cranes and construction equipment for transporting rigid bodies loads; advanced ground-based pointing and tracking systems; and numerous space applications including inertial platforms and spacecraft attitude stabilization and maneuvers. The research also has important connections with full body problems in celestial mechanics, such as the mutual dynamics of binary asteroids and the near Earth passage of asteroids. The research on global attitude control of the 3D pendulum, with control constraints, is motivated by these applications and it will seek to develop spin-off results in several of these areas.

摘要本文研究了具有控制约束的三维单摆的全局姿态控制问题。 该研究计划的动机是科学和工程意义的姿态控制问题，缺乏事先的研究与控制约束的全球姿态控制，并通过先前的理论和实验研究的主要研究者的姿态动力学和控制。 与所有姿态控制系统一样，3D摆的关键特征是所有可能姿态构形的集合是一个紧致的、非交换的李群。 要研究的控制问题分为两类：算法和计算方法的开环最佳和接近最佳的姿态控制机动和Liapunov为基础的方法闭环姿态稳定使用反馈。 在每一类姿态控制问题中，新的结果将是全局有效的，而不需要使用局部姿态图或坐标。 三维摆的物理实现，被称为三轴姿态控制试验台（TACT），是研究的实验部分的基础。 TACT由一个刚性基体和一个近无摩擦的空气轴承枢轴组成，是研究姿态动力学和控制实际问题的一个极好的实验室研究工具。该研究的动机是在不同的科学和工程领域中出现的重要的姿态动力学和控制问题。 约束姿态动力学和控制的重要应用包括机器人设备，如龙门起重机和用于运输刚体载荷的建筑设备;先进的地面指向和跟踪系统;以及许多空间应用，包括惯性平台和航天器姿态稳定和机动。 该研究还与天体力学中的全身问题，如双小行星的相互动力学和小行星的近地通道有重要联系。 全球姿态控制的三维摆，控制约束的研究，是出于这些应用程序，它将寻求开发附带结果在这些领域。