一组刚性物体的态度同步使用指数坐标
Miguel Sidón-Ayala1, Javier Pliego-Jiménez1,2, César Cruz-Hernandez1
1Departamento de Electrónica y Telecomunicaciones, División de Física Aplicada, Centro de Investigación Científica y de Educación Superior de Ensenada, Carretera Ensenada-Tijuana 3918, Ensenada 22860, Mexico.
Entropy (Basel, Switzerland)
|June 28, 2023
概括
这项研究涉及多个刚性物体的态度同步,这对于卫星和机器人操纵器协调至关重要. 一个新的控制法确保了合作运动,尽管有复杂的非线性动态和非欧几里德态度空间.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制理论 控制理论
- 航空航天工程 航空航天工程
背景情况:
- 合作运动控制对于诸如卫星阵列和机器人操纵组等多代理系统至关重要.
- 态度同步具有挑战性,因为刚性物体的非线性动力学和旋转运动的非欧几里德性质.
- 现有的方法经常与定向通信拓和态度动态的固有复杂性作斗争.
研究的目的:
- 开发一个强大的控制策略,以实现在一组完全启动的刚性物体中实现态度同步.
- 在合作控制中解决非线性动态和非欧几里德态度空间的复杂性.
- 为了使在指导通信下运行的多代理系统能够协调复杂的任务.
主要方法:
- 运用了刚体动力学和动态模型的级联结构来设计控制规律.
- 提出了一种两步控制方法:首先,用于态度同步的动力控制定律,然后用于动态子系统的角度速度跟踪控制定律.
- 在特殊正交集团SO(3) 上使用指数坐标旋转来表示自然和最小态度.
主要成果:
- 成功设计了一个同步控制规律,有效地协调多个刚性物体的姿态运动.
- 通过模拟结果证明了控制器的性能,验证了其实现态度同步的能力.
- 拟议的方法处理了定向通信拓以及固有于刚性物体动态的非线性.
结论:
- 开发的控制策略为多代理系统的态度同步问题提供了有效的解决方案.
- 使用指数坐标简化了态度动态的表示和控制.
- 这项研究有助于推进航空航天和机器人应用的合作控制.
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