无需精确模型，自适应控制让海上吊车精准跟踪目标轨迹
Nonparametric adaptive payload tracking for an offshore crane
- 用新笛卡尔模型替代加速度反馈，通过位置信号控制负载
- 在未知干扰下仍能实现误差统一有界，仿真与实验验证有效
- 适合复杂海洋环境下的高精度吊装任务，尤其适用于建模困难场景
针对海上吊车控制问题，提出一种非参数自适应控制器，使负载在仅依赖负载位置反馈的情况下跟踪期望轨迹。该控制器基于一种新型部分反馈线性化方法，利用我们提出的负载动力学新笛卡尔模型中的重力项，以执行机构的位置代替加速度来控制未受驱动的负载动态。这一设计使得可在再生核希尔伯特空间（RKHS）中近似未知干扰力和结构未知的动力学，从而抵消扰动影响。理论分析表明，该非参数自适应控制器在存在未知力和未建模动态时，系统误差保持一致最终有界。此外，基于该笛卡尔模型的部分反馈线性化方法在非自适应情况下也展现出优异的负载跟踪性能。控制器在仿真与实验中均取得良好效果。
原文摘要 · Abstract (English)
A nonparametric adaptive controller is proposed for crane control where the payload tracks a desired trajectory with feedback from the payload position. The controller is based on a novel version of partial feedback linearization where the unactuated crane load dynamics are controlled with the position of the actuated crane dynamics instead of the acceleration. This is made possible by taking advantage of the gravity terms in a new Cartesian model that we propose for the load dynamics. This Cartesian model structure makes it possible to implement a nonparametric adaptive controller which cancels disturbances on the crane load by approximating the effects of unknown disturbance forces and structurally unknown dynamics in a reproducing kernel Hilbert space (RKHS). It is shown that the nonparametric adaptive controller leads to uniformly ultimately bounded errors in the presence of unknown forces and unmodeled dynamics. In addition, it is shown that the proposed partial feedback linearization based on the Cartesian model has certain advantages in payload tracking control also in the non-adaptive case. The performance of the nonparametric adaptive controller is validated in simulation and experiments with good results.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。