Coordinated motion planning algorithm for multi arm free flying space robot system

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具有非驱动关节机器人模型的研究

以具有非驱动关节的水平两自由度机械手（大臂为驱动臂，小臂无驱动、自由）为对象，建立了其动力学数学模型，对其非完全约束（约束条件为不可积）情况进行了分析，在此基础上，利用解非线性方程的有效方法一平均值法对模型进行了处理，得到了与原系统动力学性能基本等价的平均系统，使模型得到简化，通过非线性系统相平面分析的方法，对原模型与简化后的平均系统模型在扰动作用下的特性进行了分析，得到了满意的仿真结果，验证了简化方法的有效性，简化后的模型可方便地用于该机械手的位置控制。     

基于微分平滑的欠驱动船舶航迹控制

对于欠驱动船舶水平面运动的直接航迹控制问题,由于其具有欠驱动和非线性的特点,不能采用静态反馈线性化的方法来处理．首先证明了欠驱动船舶航迹控制系统属于微分平滑系统,基于微分平滑系统中所有状态量均可表示为平滑输出及其导数的函数这一特点,在进行船舶航迹控制器设计时,采用直接动态反馈线性化的方法,建立模型的等价表达式,并将其解耦成为2个可控的线性系统,设计反馈控制律,使欠驱动水面船舶在外界干扰的情况下相对于预先设定的航迹,跟踪误差全局渐近镇定．该方法解除了以往轨迹跟踪控制律中要求角速度持续激励的假设条件．通过仿真试验验证了该方法的有效性。     

非驱动关节机器人的位置闭环控制研究

以具有非驱动关节的水平2自由度机器人为研究对象,利用拉格朗日动力学方程,建立了具有非驱动臂的两关节机器人的动力学数学模型,利用求解非线性方程的有效方法——平均值法,对已经建立的二阶非线性微分方程的数学模型进行了平均化处理,实现了数学模型的化简,同时提出了一种非线性闭环反馈的控制方法并对此控制方法进行了仿真,在控制仿真中,实现了对非驱动关节机器人系统的期望控制目标,并验证了模型化简和控制方法的有效性。     

自由漂浮空间机器人力矩最优轨迹规划算法

针对自由漂浮空间机器人的轨迹规划问题,提出一种基于粒子群优化算法的机械臂关节角驱动力矩最优轨迹规划算法.首先通过对自由漂浮空间机器人系统的动力学方程进行分析,给出了以机械臂关节角驱动力矩为目标函数的轨迹最优控制算法,并采用高阶多项式插值方法逼近机械臂关节角轨迹,结合粒子群优化算法对机械臂关节角轨迹进行优化求解.数值仿真表明,规划出的关节角轨迹平滑连续,在完成自由漂浮空间机器人姿态调整任务的同时,机械臂关节角驱动力矩降至最低.     

海洋环境下欠驱动无人艇航迹跟踪控制算法

为提高风浪流等外界环境扰动下,欠驱动无人艇航迹跟踪控制的准确性和鲁棒性,研究真实海洋环境下一类欠驱动无人艇的航迹跟踪控制问题,提出了一种基于改进视线导引算法与自适应滑模航向控制算法级联形式的欠驱动无人艇航迹跟踪控制算法,并基于李雅普诺夫理论和级联系统理论证明了当所有控制目标实现时,航迹跟踪控制系统为一致全局渐近稳定的.与传统的视线导引算法相比,改进的导引算法通过引入自适应观测器能够实现对漂角的实时估计和补偿,同时时变前视距离的设计使得无人艇的操纵更加灵活.以"海鲟03号"无人艇操纵运动模型和辨识得到的参数为基础,在MATLAB/SIMULINK软件上进行了航迹跟踪对比仿真实验,仿真结果表明:相比传统LOS导引策略下的航迹跟踪算法,控制算法动态性能更高且稳态误差较小,验证了算法的有效性和先进性;利用"海鲟03号"无人艇对所提出的控制算法进行了海上试验,结果表明在航迹跟踪控制算法的作用下,无人艇能较为准确地跟踪预先设定的期望航迹,且在整个航迹跟踪过程中,航迹误差相对较小,验证了该算法在实际工程应用中的正确性和有效性.     

具有非驱动关节机器人的位置闭环控制

以具有非驱动关系的水平两自由度机械手为对象，建立了其动力学数学模型，对具有非完全约束机器人的特点进行了分析，利用解非线性方程的有效方法平均值法对模型进行了处理，得到平均值系统，使模型得到简化，在此基础上，针对平均系统，利用李亚普诺夫稳定性方法设计了非驱动关系的任意位置闭环控制，仿真结果表明平均系统与原真实系统具有相同的动力学特性，且设计的位置环控制方法是有效的。     

Sliding-mode control of path following for underactuated ships based on high gain observer

A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and parameters.In the controller design,a high-gain observer is used to estimate velocities,thus only position and yaw angle measurements are required.The control problem of underactuated system is transformed into a control of fully actuated system through adopting an improved line-of-sight(LOS) guidance law.A sliding-mode controller is designed to eliminate the yaw angle error,and provide the control system robustness.The control law is proved semi-globally exponentially stable(SGES) by applying Lyapunov stability theory,and numerical simulation using real data of a monohull ship illustrates the effectiveness and robustness of the proposed methodology.     

基于改进切换增益自适应率的欠驱动USV滑模轨迹跟踪控制

针对参数的不确定性和外界干扰的非线性给欠驱动无人艇(USV)的精确轨迹跟踪控制带来的挑战,提出基于改进切换增益自适应率（ISGA）的欠驱动USV滑模轨迹跟踪控制算法. 该算法结合反步法和PI滑模控制,以保证欠驱动USV跟踪并保持期望的轨迹;采用基于理想增益的ISGA算法,以提高系统的鲁棒性和抑制滑模抖振现象. 借助李雅普诺夫直接法证明轨迹跟踪控制系统的全局指数稳定性. 仿真结果显示,所提算法具有鲁棒性强、滑模抖振弱和控制精度高等优点. 相较2种先进的轨迹跟踪控制算法,所提算法的位姿控制精度提高超过25.0%.     

Serret-Frenet frame based on path following control for underactuated unmanned surface vehicles with dynamic uncertainties

The path following problem for an underactuated unmanned surface vehicle(USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate transformation, the control problem of underactuated system(a nonlinear system with single-input and ternate-output) is transformed into the control problem of actuated system(a single-input and single-output nonlinear system), which simplifies the controller design. A backstepping adaptive sliding mode controller(BADSMC)is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control(DSMC). Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.     

二阶非完整平面欠驱动机械系统的位置控制

针对中间关节为欠驱动的二阶非完整平面三连杆机械系统提出一种基于模型降阶的分段控制策略。首先，控制欠驱动关节到达目标位置，并控制第三连杆角度和角速度为零，将系统降阶为平面虚拟Pendubot系统；其次，依据平面Pendubot系统的幂零近似特性，设计一个周期开环迭代镇定控制器，使平面虚拟Pendubot系统两连杆的角速度都收敛为零的同时，欠驱动关节又回到目标位置，从而使平面三连杆系统降阶为初始速度为零的平面虚拟Acrobot系统。然后，根据平面虚拟Acrobot系统的运动状态约束关系，利用在线粒子群优化算法求取两连杆的目标角度；接着，针对第三连杆设计控制器实现平面虚拟Acrobot系统的控制目标，从而实现整个系统的控制目标，仿真结果验证所提出控制策略的有效性。     

Routing optimization of the wireless sensor network with energy and path constraints

An algorithm for routing optimization of an energy and path constrained wireless sensor network is proposed to solve the energy limitation problem which is caused by the frequent use of a single path by traditional wireless sensor network routing algorithms. By considering the load balancing and energy efficiency of wireless sensor networks, the concept of flight feasible domain is introduced to achieve efficient data transmission. Furthermore, energy and distance factors are added to ensure uniform and reasonable energy distribution among network nodes, so that the low-power and energy-efficient functional requirements of the wireless sensor network are satisfied. . Experimental results show that the proposed method can improve the network load balancing effectively, avoid the network segmentation caused by premature exhaustion of some nodes, and prolong the lifetime of the network.     

基于自抗扰控制的水面无人艇路径跟踪控制器

针对欠驱动水面无人艇非线性系统,设计了一种参数在线优化的路径跟踪自抗扰控制器。对包含不确定动态的水面无人艇数学模型和参数化路径引导方法做了简要的说明,并引入一种基于混沌局部搜索策略的双种群遗传算法,对自抗扰控制器的参数进行在线优化。通过不同条件下的仿真试验结果说明,本研究设计的路径跟踪控制器对海洋环境的不确定动态、未知扰动以及模型的参数摄动具备良好的稳定性和鲁棒性。     

构造正则表达式的Follow自动机并行算法研究

给出了一种从正则表达式到Follow自动机的并行化算法. 先构造正则表达式的Thompson自动机, 再对其消除ξ边,实现Thompson自动机到Glushkov自动机的转换, 然后对Glushkov自动机的等价状态进行合并,从而得到一种规模更小的有限自动机,即Follow自动机,最后以实例模拟其并行转化过程.     

一种考虑复杂约束的线缆束路径规划方法

针对现有的路径规划方法无法用于考虑复杂工程规则约束的多电飞机机载设备线缆束路径规划的问题,基于拟物拟人算法和改进A*算法,研究并提出一种考虑复杂约束的线缆束路径规划方法.首先,提出了综合考虑路径长度成本、弯线槽材料成本、弯线槽工艺成本和弯线槽重量成本的布线总成本的计算方法,并改进了传统A*算法中的估价函数;然后,基于拟...     

Intelligent PID guidance control for AUV path tracking

Based on rational behavior model of three layers, a tracking control system is designed for straight line tracking which is commonly used in underwater survey missions. An intelligent PID control law implemented as planning level during the control system using transverse deviation is came up with. Continuous tracking of path expressed by a point sequence can be realized by the law. Firstly, a path tracking control system based on rational behavior model of three layers is designed, mainly satisfying the needs of underactuated AUV. Since there is no need to perform spatially coupled maneuvers, the 3D path tracking control is decoupled into planar 2D path tracking and depth or height tracking separately. Secondly, planar path tracking controller is introduced. For the reason that more attention is paid to comparing with vertical position control, transverse deviation in analytical form is derived. According to the Lyapunov direct theory, control law is designed using discrete PID algorithm whose parameters obey adaptive fuzzy adjustment. Reference heading angle is given as an output of the guidance controller conducted by lateral deviation together with its derivative. For the purpose of improving control quality and facilitating parameter modifying, data normalize modules based on Sigmoid function are applied to input-output data manipulation. Lastly, a sequence of experiments was carried out successfully, including tests in Longfeng lake and at the Yellow sea. In most challenging sea conditions, tracking errors of straight line are below 2 m in general. The results show that AUV is able to compensate the disturbance brought by sea current. The provided test results demonstrate that the designed guidance controller guarantees stably and accurately straight route tracking. Besides, the proposed control system is accessible for continuous comb-shaped path tracking in region searching.     

Design of active disturbance rejection internal model control strategy for SISO system with time delay process

A novel control scheme of active disturbance rejection internal model control(ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept is introduced into the internal model control(IMC) by analyzing the relationship between IMC and disturbance observer control(DOB). Further, a design process of disturbance filter is presented to realize the active anti-interference ability for ADRIMC scheme. The disturbance filter is used to estimate an equivalent disturbance consisting of both external disturbances and internal disturbances caused by model mismatches.Simulation results demonstrate that the proposed method possesses a good disturbance rejection performance, though losing some partial dynamic performance. In other words, the proposed method shows a tradeoff between the dynamic performance and the system robust.     

使用遗传算法规划移动机器人路径

提出了一个基于遗传算法的移动机器人路径规划方法。该方法在对自由空间进行链接图法建模的基础上,先用网络图最短路径算法进行粗路径的搜索,然后再利用遗传算法进行路径点的调整,从而规划出机器人的行走路线。通过对路径点的编码处理,使得仅使用简单遗传算法就能对路径规划问题进行求解。仿真结果表明,该方法简单易行,并且所规划出的路径的质量有所提高。     

基于二阶滑模算法的船舶航向控制

针对非线性、易受外界扰动的欠驱动船舶航向控制系统,基于滑模控制算法的理念,直接对二阶航向控制系统中的控制输入进行设计,提出一种二阶滑模控制算法,通过设计合理的李雅普诺夫函数及利用其稳定性理论对系统的稳定性进行了分析,并利用"育龙"轮运动数学模型进行计算机模拟仿真,验证了该控制算法的合理性及有效性。该算法避免了计算中的维数膨胀问题,无需对不确定的外界摄动进行定性估计,可以保证闭环控制系统的渐近收敛及稳定。仿真结果表明,根据该控制算法所设计的控制器,能够有效解决非线性航向控制系统中存在的抖振、超调以及不能在有限时间内快速收敛的问题,而且对外界干扰以及系统摄动不敏感、具有强鲁棒性,具有很好的实践应用价值。     

欠驱动水平机械臂的遗传优化分层滑模控制

对具有非驱动关节的水平二自由度机械臂系统,提出了基于遗传算法的在全局参数空间内进行全参数寻优的改进分层滑模变结构控制方法．解决了水平欠驱动系统的变结构控制问题以及由于欠驱动系统控制缺少通用的参数计算方法而产生的控制精度低的问题．仿真结果表明了该控制方法的有效性,并且优化后的控制器具有较好的适应性和控制效果．