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A Unified Approach ...
A Unified Approach to Input-output Linearization and Concurrent Control of Underactuated Open-chain Multi-body Systems with Holonomic and Nonholonomic Constraints
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- Chhabra, Robin (författare)
- MacDonald, Dettwiler and Associates Ltd., Brampton
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- Emami, Reza (författare)
- Luleå tekniska universitet,Rymdteknik
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MacDonald, Dettwiler and Associates Ltd, Brampton Rymdteknik (creator_code:org_t)
- 2015-01-15
- 2016
- Engelska.
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Ingår i: Journal of dynamical and control systems. - : Springer Science and Business Media LLC. - 1079-2724 .- 1573-8698. ; 22:1, s. 129-168
- Relaterad länk:
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https://urn.kb.se/re...
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visa fler...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- This paper presents a unified geometric framework to input-output linearization of open-chain multi-body systems with symmetry in their reduced phase space. This leads us to an output tracking controller for a class of underactuated open-chain multi-body systems with holonomic and nonholonomic constraints. We consider the systems with multi-degree-of-freedom joints and possibly with non-zero constant total momentum (in the holonomic case). The examples of these systems are free-base space manipulators and mobile manipulators. We first formalize the control problem, and rigorously state an output tracking problem for such systems. Then, we introduce a geometrical definition of the end-effector pose and velocity error. The main contribution of this paper is reported in Section 5, where we solve for the input-output linearization of the highly nonlinear problem of coupled manipulator and base dynamics subject to holonomic and nonholonomic constraints. This enables us to design a coordinate-independent controller, similar to a proportional-derivative with feed-forward, for concurrently controlling a free-base, multi-body system. Finally, by defining a Lyapunov function, we prove in Theorem 3 that the closed-loop system is exponentially stable. A detailed case study concludes this paper.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
Nyckelord
- Onboard space systems
- Rymdtekniska system
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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