解决多机器人协作推拉中欠驱动与控制受限问题，实现稳定切换控制。
Switching control of underactuated multi-channel systems with input constraints for cooperative manipulation
- 通过混合整数线性规划动态分配任务通道，兼顾控制约束与系统稳定性。
- 在2D/3D飞行器与多机器人推物任务中验证，保持半全局指数稳定。
- 适合需要实时切换控制的欠驱动多智能体协同系统研究者参考。
本文提出一种面向具有输入约束的非线性欠驱动多通道系统的事件触发切换控制框架。该系统源于多个欠驱动智能体协作推动或拉动物体至目标位姿的任务。与现有方法不同，本方法通过额外考虑智能体的通道分配来应对欠驱动及潜在失控问题。为同时处理通道分配、输入约束与稳定控制，将控制问题建模为混合整数线性规划，并推导其可行性的充分条件。为提升实时计算效率，引入基于二次规划的稳定控制器，确保切换事件间仍保持系统稳定。理论证明所提方法具有半全局指数稳定性，其扩展至非抓握式协作操作在非瞬时切换下亦具渐近稳定性。框架在二维与三维自由飞行器系统及多机器人非抓握推物任务中通过数值仿真得到验证。
原文摘要 · Abstract (English)
This work presents an event-triggered switching control framework for a class of nonlinear underactuated multi-channel systems with input constraints. These systems are inspired by cooperative manipulation tasks involving underactuation, where multiple underactuated agents collaboratively push or pull an object to a target pose. Unlike existing approaches for multi-channel systems, our method addresses underactuation and the potential loss of controllability by additionally addressing channel assignment of agents. To simultaneously account for channel assignment, input constraints, and stabilization, we formulate the control problem as a Mixed Integer Linear Programming and derive sufficient conditions for its feasibility. To improve real-time computation efficiency, we introduce an event-triggered control scheme that maintains stability even between switching events through a quadratic programming-based stabilizing controller. We theoretically establish the semi-global exponential stability of the proposed method and the asymptotic stability of its extension to nonprehensile cooperative manipulation under noninstantaneous switching. The proposed framework is further validated through numerical simulations on 2D and 3D free-flyer systems and multi-robot nonprehensile pushing tasks.
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