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

项目摘要第A页该提案描述了一项关于在重力和棱镜致动器产生的控制力作用下运行的多体车辆非线性控制的新型研究计划。多体飞行器是一种机械系统，它由一个可以在三维空间中平移和旋转的刚性基体和一个被约束为相对于基体运动并相互运动的辅助体组成.多体车辆使用安装在基体上的棱柱形致动器装置进行控制。这些是线性机电致动器，其使检测质量块沿着固定到基体的轨道移动。这是一种新的驱动技术，具有很大的潜力，提供新的机动能力，即精确平移和全球姿态机动，公式体车辆。另一方面，这种多体车辆的设计和操作提出了许多挑战，因为它们不是完全致动的，在这个意义上说，有更少的控制输入比有自由度的控制。拟议研究的关键方面，由此产生的主要研究挑战，是：（1）存在受控的机械对称性及其相关的运动积分;（2）实现多体飞行器从静止到静止的任意机动的目标。虽然多体机械系统的一些非线性控制问题相对简单，根据现有的知识水平，本研究中提出的问题不能得到充分的处理。这项拟议中的研究是主要研究者在过去14年中NSF认证研究的高潮。它代表了他以前对约束和欠驱动机械系统的非线性控制研究的扩展，这些问题以前不适合使用传统的非线性控制方法进行研究。该研究的预期贡献是：（1）为所研究的多体飞行器类发展非线性控制理论，（2）为多体飞行器发展创新的新系统设计和控制策略，（3）通过学生参与研究产生教育影响。这些研究概念将应用于在太空或水下运行的飞行器，它们非常适合在太空或水下运行的小型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公式体车辆，从而有助于整体工程基础设施在运输，勘探，遥感和监视。

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.