提出可实时估计多节浮游机械系统姿态与惯性参数的新方法
Modeling, Observability, and Inertial Parameter Estimation of a Planar Multi-Link System with Thrusters
- 用喷口替代关节驱动，构建带非均匀参数的平面多节模型
- 证明在特定喷口条件下，角度、速度、质量与转动惯量可局部观测
- 适用于仿生水下机器人控制设计，适合做系统辨识的研究者
本研究为带有链式喷口推进器的自由浮动多节系统提供了建模与实时状态及惯性参数估计的理论基础，对安全有效的控制器设计至关重要。首先，将平面非线性多节蛇形机器人模型改造为平面仿生樽海鞘机器人链：移除关节执行器，引入链节喷口，并允许链节长度、质量与转动惯量非均匀。其次，对带喷口的多节系统进行非线性可观测性分析，证明当配备惯性测量单元且在特定喷口工作条件下，链节角度、角速度、质量与转动惯量具有局部可观测性。仿真验证基于三节系统完成。
原文摘要 · Abstract (English)
This research provides a theoretical foundation for modeling and real-time estimation of both the pose and inertial parameters of a free-floating multi-link system with link thrusters, which are essential for safe and effective controller design and performance. First, we adapt a planar nonlinear multi-link snake robot model to represent a planar chain of bioinspired salp robots by removing joint actuators, introducing link thrusters, and allowing for non-uniform link lengths, masses, and moments of inertia. Second, we conduct a nonlinear observability analysis of the multi-link system with link thrusters, proving that the link angles, angular velocities, masses, and moments of inertia are locally observable when equipped with inertial measurement units and operating under specific thruster conditions. The analytical results are demonstrated in simulation with a three-link system.
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