用离散脉冲力实现棒子螺旋运动的稳定控制
Discrete VHCs for Propeller Motion of a Devil-Stick using purely Impulsive Inputs
- 基于离散虚拟约束设计控制策略，通过角度约束确定质心位置
- 在极小脉冲间隔下，系统趋近连续受力的螺旋运动状态
- 适用于欠驱动抛掷机器人控制，对轨迹设计有指导意义
研究在垂直平面内仅通过法向脉冲力控制魔鬼棒实现螺旋运动的问题。该问题属于欠驱动机器人抛掷控制范畴，此前未见文献报道。首次引入离散虚拟约束（DVHC）概念，于脉冲施加的离散时刻，根据棒子姿态角设定质心位置，得到离散零动态（DZD），给出稳定螺旋运动的条件。当相邻脉冲间转角趋于无穷小时，系统退化为连续受力情形。本文提出实现DVHC的控制器，以及基于脉冲控制庞加莱映射的轨道稳定控制器。仿真验证了该方法在轨迹设计与稳定性方面的有效性。
原文摘要 · Abstract (English)
The control problem of realizing propeller motion of a devil-stick in the vertical plane using impulsive forces applied normal to the stick is considered. This problem is an example of underactuated robotic juggling and has not been considered in the literature before. Inspired by virtual holonomic constraints, the concept of discrete virtual holonomic constraints (DVHC) is introduced for the first time to solve this orbital stabilization problem. At the discrete instants when impulsive inputs are applied, the location of the center-of-mass of the devil-stick is specified in terms of its orientation angle. This yields the discrete zero dynamics (DZD), which provides conditions for stable propeller motion. In the limiting case, when the rotation angle between successive applications of impulsive inputs is chosen to be arbitrarily small, the problem reduces to that of propeller motion under continuous forcing. A controller that enforces the DVHC, and an orbit stabilizing controller based on the impulse controlled Poincaré map approach are presented. The efficacy of the approach to trajectory design and stabilization is validated through simulations.
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。