Multi-stage trajectory tracking control design under comprehensive constraints based on Generalized Udwadia–Kalaba theory

弹道 阶段(地层学) 控制理论(社会学) 跟踪(教育) 控制(管理) 数学 数学优化 计算机科学 人工智能 物理 心理学 生物 古生物学 教育学 天文
作者
Rongrong Yu,Sen Lu,Wenxuan Zhu,Ye‐Hwa Chen,Chenming Li
出处
期刊:Ocean Engineering [Elsevier]
卷期号:306: 117986-117986
标识
DOI:10.1016/j.oceaneng.2024.117986
摘要

A novel control design based on Generalized Udwadia–Kalaba (GUK) theory is proposed to achieve the trajectory tracking under comprehensive constraints in this paper. To describe the complex task requirements, a constraint framework including equality and inequality constraints is constructed. Thus, the complex trajectory tracking problem is converted into a constraint-following problem. Based on the framework above, GUK equation is introduced to consider the equality and inequality constraints individually. Specifically, the equality constraints are transformed into second-order matrix form, while the inequality constraints are addressed via a diffeomorphism. Then, a novel control method including servo control term and high-order control term is proposed. Through these two control terms, the constraint forces for equality and inequality can be solved separately. The effectiveness of this control method is verified by the stability analysis based on Lyapunov minimax approach and illustrative application of unmanned surface vehicle (USV). Meanwhile, the superiority of this method is demonstrated through a comparative analysis with Udwadia–Kalaba (UK) method, Linear Quadratic Regulator (LQR) method and sliding mode control (SMC) method.
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