A Practical Approach to Motion Control for Planar Multi-Rigid-Body Systems
This research is focused on developing a practical motion control approach,which can greatly simplify the control-oriented modeling and improve the control performance.For any dynamical system which meets the requirements,all necessary dynamics information is deduced in a general form as two matrices,which skillfully avoids the complicated modeling of multi-rigid-body dynamics.The other information,such as un-modeled dynamics and uncertain disturbances,is treated as a generalized total disturbance,estimated by an extended state observer and compensated by a simple controller.A standardizing controller is designed to convert any dynamical system into a standardized model so that the extended state observer can be constructed in a general form.The approach is applied to the control system design of an in-plane morphing wing and morphing aircraft in pitch plane,and multidisciplinary joint simulations are performed.The proposed approach is validated with the following advantages: simplicity and effectiveness in control-oriented dynamical modeling and controller tuning; universality for a certain class of planar multi-rigid-body systems; practicality for engineers and interdisciplinary researchers of mechanics and control.
Motion Control Multi-Rigid-Body System Lagrange Equation Extended State Observer Pseudo-Inverse
Rongqi Shi Jie Peng
Department of Engineering Mechanics,Tsinghua University,Beijing 100084,China
国际会议
长沙
英文
834-839
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）