带推力限制的末态切换控制允许集的生成方法

Yuma Yazaki, H. Fujimoto
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引用次数: 1

摘要

模式切换控制(MSC)是一种根据切换条件从一种控制模式切换到另一种控制模式的控制方法。MSC已广泛应用于机器人和硬盘驱动器。然而,考虑到推力的限制,切换条件通常是保守的,因为没有明确的标准来切换控制模式。为此,本文提出了一种基于初始状态变量的具有推力限制的最终状态控制(FSC)切换状态指标。该指标的新颖之处在于,在考虑推力限制的情况下,可以自动生成在有限时间内从初始状态到最终状态的前馈输入。仿真结果表明了该指标的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Generation method of admissible sets for mode switching control using final-state control with thrust limitation
Mode Switching Control (MSC) is a control method which switches from one control mode to another according to switching conditions. MSC has been widely used in robots and hard disk drives. Considering thrust limitations, however, the switching condition is generally conservative since there are not any clear criteria to switch the control modes. Therefore, this paper proposes a new index of switching condition which uses initial state variables in Final-State Control (FSC) with thrust limitations. The novelty of the index is that feedforward inputs which take an initial state to a final state in finite time can be generated automatically, while taking into account thrust limitations. The effectiveness of the proposed index is shown by simulations.
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