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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Nonlinear Continuous Global Stabilization Control for Underactuated RTAC Systems: Design, Analysis, and Experimentation
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Nonlinear Continuous Global Stabilization Control for Underactuated RTAC Systems: Design, Analysis, and Experimentation

机译：欠驱动RTAC系统的非线性连续全局稳定控制：设计，分析和实验

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摘要

Rotational-translational actuator (RTAC) systems can capture the major working principle of dual-spin spacecrafts and can be used to study the despin maneuver. In this paper, we consider the problem of globally stabilizing RTAC systems, which work in the vertical plane and are affected by nonvanishing matched disturbances by employing continuous control inputs. To this end, a nonlinear continuous control approach is synthesized to effectively damp out the platform oscillations, while ensuring that the eccentric ball's rotation angle returns to zero without residual swing. To our knowledge, this paper yields the first continuous controller, which is designed and analyzed without linearizing/approximating the original nonlinear dynamical equations to globally stabilize both the rotation and translation of RTAC systems influenced by nonvanishing matched disturbances. We implement experiments to show that the proposed control approach can achieve superior performance vis-à-vis existing methods and it admits for good robustness.
机译：旋转-平移执行器（RTAC）系统可以记录双旋航天器的主要工作原理，并可以用于研究旋降机动。在本文中，我们考虑全局稳定的RTAC系统的问题，该系统在垂直平面上工作，并且通过采用连续控制输入受到不受干扰的匹配干扰的影响。为此，采用了一种非线性连续控制方法，可以有效地抑制平台振动，同时确保偏心球的旋转角度返回零而不会产生残余摆动。据我们所知，本文产生了第一个连续控制器，该控制器的设计和分析无需线性化/逼近原始非线性动力学方程，以使稳定的RTAC系统的旋转和平移受到全局性稳定的匹配干扰的影响。我们进行的实验表明，所提出的控制方法可以实现优于现有方法的性能，并且具有良好的鲁棒性。

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  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2017年第2期|1104-1115|共12页
  • 作者

    Ning Sun; Yiming Wu; Yongchun Fang; He Chen; Biao Lu;

  • 作者单位

    Institute of Robotics and Automatic Information Systems, College of Computer and Control Engineering,;

    Institute of Robotics and Automatic Information Systems, College of Computer and Control Engineering,;

    Institute of Robotics and Automatic Information Systems, College of Computer and Control Engineering,;

    Institute of Robotics and Automatic Information Systems, College of Computer and Control Engineering,;

    Institute of Robotics and Automatic Information Systems, College of Computer and Control Engineering,;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Manifolds; Mechatronics; Space vehicles; IEEE transactions; Robustness; Oscillators; Vibrations;

    机译：集成块;机电一体化;航天器;IEEE交易;健壮性;振荡器;振动;
  • 入库时间 2022-08-17 13:03:28

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