利用方位推进器控制超驱动车辆并应用于自主水面车辆

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) Pub Date : 2014-12-18 DOI:10.1109/ICCAS.2014.6987878

Darsan R. Patel, D. Frank, C. Crane

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引用次数: 5

摘要

设计了一种针对一般过致动系统的控制算法。如果系统中的冗余执行器允许对期望轨迹有无限多个可能的解，则控制器必须决定采用哪一个解。实现了PD控制器来求解轨迹所需的力和力矩。一旦获得了力和力矩，利用成本函数来帮助指导执行器配置的选择。然后，通过使用方位角推力器推进系统的自主水面车辆的仿真验证了这种控制方法。

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Controlling an overactuated vehicle with application to an autonomous surface vehicle utilizing azimuth thrusters

A control algorithm for allocating control effort to a generic overactuated system is designed. In the case where redundant actuators in the system allow for an infinite number of possible solutions to a desired trajectory, the controller must decide which solution to take. A PD controller is implemented to solve for the desired force and moment of the trajectory. Once the forces and the moments are acquired, a cost function is utilized to help guide the choice of the actuator configuration. This control method is then validated through the simulation of an autonomous surface vehicle that is utilizing an azimuth thruster propulsion system.

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来源期刊

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)

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