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Control problems in super-articulated mechanical systems

机译：超铰接机械系统中的控制问题

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摘要

Control of super-articulated mechanical systems (SAMS: controlled mechanical system in which the dimension of the configuration space exceeds the dimension of the control input space) is studied. As a starting point, a graphical characterization of general SAMS is developed in which a so-called control flow diagram (CFD) is constructed to represent the interaction forces among the degrees of freedom of the system; three types of structure, namely, the chain structure, the tree structure and isolated points, are identified; degree of complexity of the system is defined based on the structure of the system. A systematic backstepping type controller design is proposed for systems with a chain structure to achieve global asymptotic stability and trajectory tracking. Such a controller design itself illustrates the sufficient conditions for the existence of smooth feedback control such that the systems with a chain structure can be globally asymptotically stabilized. The connection of the authors' control algorithm with existing results is discussed.
机译：研究了超铰接机械系统的控制（SAMS：其中配置空间的尺寸超过控制输入空间的尺寸的受控机械系统）。首先，开发了通用SAMS的图形特性，其中构造了所谓的控制流程图（CFD）来表示系统自由度之间的相互作用力。确定了三种类型的结构，即链结构，树结构和孤立点；系统的复杂程度是根据系统的结构定义的。针对具有链结构的系统，提出了系统的反推型控制器设计，以实现全局渐近稳定性和轨迹跟踪。这样的控制器设计本身说明了存在平滑反馈控制的充分条件，使得具有链结构的系统可以全局渐近稳定。讨论了作者控制算法与现有结果的联系。

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