李群上机械系统的几何滑模控制

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2025-04-30 DOI:10.1016/j.automatica.2025.112346

Eduardo Espindola , Yu Tang

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引用次数: 0

摘要

本文提出了全驱动简单机械系统的一般李群滑模控制设计。通过在状态空间中配置李群的结构，并在状态空间中建立滑模子群，保证了滑模的存在性，从而使所提出的滑模李群控制能够利用滑模控制在欧几里德空间中的显著特征。在特殊正交群SO(3)中加入姿态跟踪来说明所提出的设计。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Geometric sliding mode control of mechanical systems on Lie groups

This manuscript presents a sliding-mode control design on a general Lie group for fully-actuated simple mechanical systems. By equipping the state space with the structure of a Lie group and building a sliding subgroup immersed in the state space, the sliding mode is guaranteed to exist and therefore allows the proposed sliding-mode control on Lie groups to leverage the salient features of the sliding-mode controls in the Euclidean space. The tracking of attitude in the special orthogonal group

S O (3)

is included to illustrate the proposed design.

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.